Movement Balancing Hexabot (Programming and Designing on Mechanical Parts)

Lee, Chee Kang (2011) Movement Balancing Hexabot (Programming and Designing on Mechanical Parts). Final Year Project (Other), Tunku Abdul Rahman University College.

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Abstract

The title of this project is Movement Balancing Hexabot. The purpose of building this robot is to carry out the idea of controlling leg movement with the balancing system. Basically, the objective of building this robot is for research and education purposes. When come to the movement study, the project needed study a lot of information from animal movement based on angle of freedom, balancing of body and others, to improve robot's balancing ability. Thus, we noticed that crab is one of animals with the movement concept that can be applied to our robot. Movement Balancing Hexabot used 12 servo motors for movement. Controlling of 12 servo motor is one of the most difficult thing for the project. Every servo motor plays an important role for balancing and motion as well. Besides, the turning speed of motor is a critical factor that determine the balancing condition of the robot. Due to this reason, spent a lot of time for tuning for robot motion. Other than that, the technique of calibration is one of the main knowledge that cannot found on book. Calibration for 12 servo motors together took a very long time which is beyond our expectation. However, this is a great experience for us. Sensor for balancing is one of main sections for study. However, constraint by the financial reason, we choose a very cheap sensor which is less in sensitivity. Nonetheless, the study on balancing sensor has been carried out well enough for our understanding. Besides, the idea ofbalancing control has been applied on the robot.