Four-Legged robot mechanism design and analysis

Although wheeled robots have conquered the robotics industry and seem to be very popular, there are problems with stability, maneuverability, and control surface when dealing with rough terrain or uneven surfaces. For robots that walk on rough terrain, adding legs could be a solution. Therefore, this project was undertaken to study the appropriate mechanism design for a four-legged robot. This project started with a comparison of the four-legged robot design using the four-bar linkage mechanism and the Theo Jansen mechanism. Motion analysis was performed using SolidWorks Study Motion to study the path analysis, linear displacement, and linear velocity. The Pugh concept selection method was used to identify the best concept design. The analysis showed that the four-legged robot with Theo Jansen's mechanism was the best concept design. The parts for the chosen concept design were 3D printed and assembled into a four-legged robot along with other electronic parts. Two experiments were conducted on the running track of the UTeM stadium to test the efficiency of the four-legged robot when moving. The experiments it shows that the four-legged robot can operate well after the fabrication. In summary, the Theo Jansen mechanism can be used on a four-legged robot as it provides smooth and stable movement.