Professional Documents
Culture Documents
Group M7
Six Legged Locomotive
2/14
Objectives
Aim
To build a six-legged walker, capable of travelling in a straight line,
over rough ground.
Performance Criteria
• The robot must cover a distance of approx. 10m.
• It must walk this distance on 6 legs without falling over, or self-
righting if it does fall.
• It must walk in a straight line, which may require correctional
steering.
• It must walk at a speed of approx. 0.03 m/s.
• It must be able to operate for about 30 min.
• It must be able to walk across horizontal rough ground.
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Design
The final design was selected because it
had:
• A stable leg arrangement.
• A minimal number of motors which
reduced cost.
• Potential to incorporate 360 ° steering.
• Remote Control
– Lewis & Niall
• Mechanical Linkage
– Iain & Niall
•Driving Mechanism
– Tom & Nicola
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Design - Prototypes
Design - 3D Modelling
Testing
Testing was carried out in stages prior to integration. Once each
section was found to be working individually they were joined in
stages and tested.
Problems found:
•Weak connection between driving gear and motor shaft.
•Weak connections on two of the legs.
•Poorly positioned drive shaft separated motor housing from legs.
•Stress crack caused a leg piece to break.
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Evaluation
Achievements:
•The solution was produced on time and within budget.
• The six-legged walker successfully walks in a straight line.
• The six-legged walker can be remotely controlled and made to walk
both forwards and backwards.
Improvements:
• Steering could be introduced.
• Larger batteries could extend operation time.
• The design could be adapted to handle rough terrain more
effectively.
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Conclusion
Within the budget and time constraints, the specification has
been mainly satisfied. However, with additional resources more
features, such as steering, could be included.