A New Design of Three-Legged Robot of Mechanical and Control System

Hao Tian Cui; Wang Yang; Qing Qing Li; Yue Qing Yu; Li Zheng Ma; Yu Mo Wang

doi:10.4028/www.scientific.net/AMM.347-350.690

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 347-350A New Design of Three-Legged Robot of Mechanical...

A New Design of Three-Legged Robot of Mechanical and Control System

Abstract:

A new type of three-legged robot design scheme is proposed and the movement control of it is studied in this paper. Spatial crank rocker mechanism (RSSR) is used to will the motor rotation into a leg swinging in mechanical design. Advanced reduced instruction-set computer machines (ARM) chip, wireless communication module and magnetic encoder are used in controller design. Proportional and differential (PD) closed loop control arithmetic is used to realize the control of the robot. The robot realizes the movement of straight walk, curve walk, turning in situ, jumping and so on. It has a broad application prospect.

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Periodical:

Applied Mechanics and Materials (Volumes 347-350)

Pages:

690-694

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.347-350.690

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Online since:

August 2013

Authors:

Hao Tian Cui, Wang Yang, Qing Qing Li, Yue Qing Yu, Li Zheng Ma, Yu Mo Wang

Keywords:

Motion Control, Three Legged Robot, Wireless Remote Control

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