UFO JOE: Walker Mechanism CAD

 

Isometric view of the walker

The first step in the creation of UFO JOE is complete, the CAD for the walking mechanism.  This aspect of the robot is the most mechanically complex design I've ever made, though each bit of complexity is vital in helping UFO JOE take its first steps.  It came with a variety of design challenges that I hopefully was able to overcome in order to create the lightest walking platform that could perform at the beetleweight level.

   
Walking robot by Raptor Robotics

The first piece of inspiration I got for UFO JOE was a video uploaded by Raptor Robotics which showed off the simplest walking mechanism that I had seen before.  In order for UFO JOE to be able to reach its intended weight while still being rigid enough to survive its own kinetic energy transfers I needed to find a walking mechanism that was relatively simple.  This basic mechanism was what I needed, though it did need to be modified for use in UFO JOE.

   
Top view of the walker w/o chassis cap

To keep down on weight the walking mechanism will use a single brushless motor to drive the walking motion.  By gearing it down, that single motor would be able to lift all six pounds of UFO JOE.  Each of the four assemblies includes a bearing block, a shaft clamp, and a pulley, with the assembly attached to the motor containing an extra gear.  The front two, and back two, assembles would be connected via two shafts that would be spun by the motor.  The front and back assemblies would be connected to each other through a set of pullies and the rigidity of the legs.


Side profile of the walking mechanism

The mechanism works by rotating two parts of the legs at the same rate, translating it in a walking motion while allowing it to remain parallel to the bottom of the robot.  This will allow the robot to stay stable while walking.  

A couple days ago I ordered the parts I needed from ServoCity, and they should be arriving any day now.  Once the robot is assembled you will get an update.


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