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    ME224 PPT

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    Aman Kumar
    This document describes a student project to design and fabricate a kinematic walker robot. A team of 7 students from IIT Guwahati's Mechanical Engineering department, under the guidance of Prof. Karuna Kalita, designed and built a six-legged walking robot that is powered by a single motor and can walk on any surface. The students used Solidworks for 3D modeling, MATLAB for kinematic analysis, and basic tools and materials like acrylic sheets, a DC motor, gears, and hardware to assemble the robot. Motion analysis was performed to verify the legs trace the correct paths during walking. Potential applications of the kinematic walker include use as a watchdog in sewer maintenance or on rough terrains where wheeled

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    ME224 PPT

    Uploaded by

    Aman Kumar
    24 views11 pages
    This document describes a student project to design and fabricate a kinematic walker robot. A team of 7 students from IIT Guwahati's Mechanical Engineering department, under the guidance of Prof. Karuna Kalita, designed and built a six-legged walking robot that is powered by a single motor and can walk on any surface. The students used Solidworks for 3D modeling, MATLAB for kinematic analysis, and basic tools and materials like acrylic sheets, a DC motor, gears, and hardware to assemble the robot. Motion analysis was performed to verify the legs trace the correct paths during walking. Potential applications of the kinematic walker include use as a watchdog in sewer maintenance or on rough terrains where wheeled

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    This document describes a student project to design and fabricate a kinematic walker robot. A team of 7 students from IIT Guwahati's Mechanical Engineering department, under the guidance of Prof. Karuna Kalita, designed and built a six-legged walking robot that is powered by a single motor and can walk on any surface. The students used Solidworks for 3D modeling, MATLAB for kinematic analysis, and basic tools and materials like acrylic sheets, a DC motor, gears, and hardware to assemble the robot. Motion analysis was performed to verify the legs trace the correct paths during walking. Potential applications of the kinematic walker include use as a watchdog in sewer maintenance or on rough terrains where wheeled

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    24 views11 pages

    ME224 PPT

    Uploaded by

    Aman Kumar
    This document describes a student project to design and fabricate a kinematic walker robot. A team of 7 students from IIT Guwahati's Mechanical Engineering department, under the guidance of Prof. Karuna Kalita, designed and built a six-legged walking robot that is powered by a single motor and can walk on any surface. The students used Solidworks for 3D modeling, MATLAB for kinematic analysis, and basic tools and materials like acrylic sheets, a DC motor, gears, and hardware to assemble the robot. Motion analysis was performed to verify the legs trace the correct paths during walking. Potential applications of the kinematic walker include use as a watchdog in sewer maintenance or on rough terrains where wheeled

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    You are on page 1of 11

    PROJECT - DESIGN AND

    FABRICATION OF
    KINEMATIC WALKER
    A Project by –

     IIT Guwahati, MECHANICAL DEPARTMENT (2014 BATCH sec –B)


     Under the guidance of Prof. Karuna Kalita

    STUDENTS-
     Mahesh Yogi (140103036)
     Akshay Pimpalkar (140103048)
     Akshit Ughade (140103074)
     Dinesh Makkar (140103086)
     Avdhoot Waghmode (140103080 )
     Suwesh Kumar (140103084)
     Shashwat Srivastava (140103082 )
    INTRODUCTION

     The scope of our project is to make a robot which


    can walk on any Surfaces and carries a limited load .
    It could be used as a watchdog in sewer
    maintenance etc.
     Our kinematic walker is a six-legged machine which
    is an arrangement of linkages, together powered by
    a single motor.
     These six legs move simultaneously with several
    angular intervals in between them so that they give
    a walking motion just like a six-legged insect.
    HOW WE PROCEEDED!!

     Design and Calculation part – This included


    designing of the model on SOLIDWORKS and
    kinematic analysis on MATLAB.
     Fabrication of various parts and assembling them.
     Placing the motor on bot and connecting the
    shaft of the bot to the motor using gears.
     Providing a switch for controlling motor.
     MODEL is READY!!
    TOOLS & MATERIALS USED

    MATERIALS TOOLS
    USED  SOLIDWORKS 3-D modelling tool
     Acrylic Sheets  SOLIDWORKS motion analysis
    tool
     200 R.P.M Dc motor
     MATLAB (for position, velocity
     Two gears (70 and 36 teeth )
    and acceleration analysis)
     DPDT switch  Cutting tools like hacksaw etc.
     9 volt Battery
     Connecting wires
     Nut and bolts
     Metal rod
    Designing the Model

     At first, we started by calculating the dimensions of


    links and designing the shape and structure of links.
    This was calculated using the 3-point synthesis Path
    Generation method. Each leg was supposed to trace
    a specific path, so we considered any three points on
    the path, assumed the coupler point and located the
    fixed pivot point for all members on the frame.
     After calculating the dimensions, we designed the
    CAD model and checked if the legs are moving
    comfortably or not. We also analyzed the legs motion
    through this.
     MATLAB was used to check if the legs traced the
    correct path or not
    MOTION ANALYSIS VIDEO
    Kinematic Analysis on MATLAB

     Calculation of velocity and


    acceleration of the bot and the
    legs was done on MATLAB. First Path followed by the legs Velocity of the Bot v/s Time
    we made a rough calculation for
    the positions and velocities of
    link by providing constant
    angular velocity to one of the
    crank and then MATLAB code
    was written and stimulated.
    APPLICATIONS of
     It can be used as a watchdog in
    Kinematic Walker sewer maintenance.
     Can be used on uneven/rough
    terrains, where wheeled robots
    cannot be used!
     Used on extra-terrestrial surfaces.
    (like moon /mars )
     To study insects and animal leg
    mechanisms.
    REFERENCES

     This site was taken as reference for studying walker mechanism - http://
    www.instructables.com/
    Thank you !!

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