Design and Synthesis of Eight-Legged Spider Robot

摘要

Abstract: Less than half the world’s landmass is accessible to existing wheeled and tracked vehicles. But people and animals using their legs can go almost anywhere. Our aim is to develop a new type of rough-terrain robots that capture the mobility, autonomy and speed of living creatures. Such robots will travel in outdoor terrain that is too steep, rutted, rocky, wet, muddy, and snowy for conventional wheeled vehicles. They will travel in cities as well as in our homes, doing chores and providing care, where steps, stairways and household clutter limit the utility of wheeled vehicles. Robots meeting these goals will have various sensors, sophisticated computing and power systems, advanced actuators and dynamic controls. It is marvellous that creatures can go over a rough terrain at speeds which are remarkably higher than practically possible with wheeled vehicles. Indeed, even an individual, by getting down on each of the eight legs if necessary, can travel or climb over terrain which is unreachable for a wheeled or followed vehicle. It is therefore of immense eagerness to realize what machines for land locomotion can do if they are intended to imitate nature. Legged robots can be used for space missions on extraterrestrial planets and in risky places, for example, within an atomic reactor, giving independent legged robots a great potential. less power consumption and weight are further advantages of walking robots, so it is important to use the minimum number of actuators. In this context, the objective of this project is to learn and design a prototype of the Theo-Jansen eight leg strolling robot. The goal is to develop a new mechanical automated walker utilizing eight bar link mechanism. The essential Theo Jansen device is a 13 bar framework that strolls when a crank is rotated. So, utilizing linkages we attempted to imitate nature and put together certain strolling robot which will suite off-road.