cam controlled walking robot
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The objective ofthis project is to create a walking robot employing a cam controlled leg. The cam controlled walker was first theorized in the Master's Thesis of Xiaonan Wan of Northern Illinois University. The principle of a cam controlled is to combine the advantages of both wheels and legs into one manipulator. The robot is constructed 'of a body with four motor driven walking pods. Each pod consisted of three cam-controlled members. The robot is capable of walking in a smooth, strait and level line, when it is activated. The robot is designed to be less than 69 centimeters and less than 2 kg in mass. The basic pod design involves a rotating slider and a cam shaped track, which causes a rotating member to have an end path that is a level strait line. This design is advantageous because it allows for the level motion of a wheel and the small footprint and rough terrain navigation ability of a leg. Analysis of motion shows that the robot does not move at constant speed. This creates a dynamic loading problem along with a dynamic control problem. The robot is built to be structurally sound and stable under the dynamic conditions. In order to conserve weight a light motors were used in conjunction with gearboxes. The robot showed it was physically capable of moving but it has problems power issues.