|Wheeler - uneven Terrain Robot|
The WHEELER robot is a mobile robot with four rotating spoke wheels with two of the spoke wheels mounted on an extended arm each. The WHEELER robot is developed for the purpose for mechanical analysis of locomotion in terms of negotiating uneven terrain. The robot is capable of overcoming low height obstacle and moving through grass, rocky surface and even stairs of appropriate height. By alternating the two extend arms mounted in the front at a predefined sequence, the robot is able to effectively move along uneven surface, crank over low obstacles and climb upwards or downward stairs. The robot is suitable for application for fast locomotion over uneven terrain.
The WHEELER robot consists of 6 hacked DC servos and a PIC micro-controller; hacked DC servos do not consist of any controller board embedded and mechanical limit is removed to allow full rotation of the shaft. 4 hacked DC servos are used to directly drive the spoke wheels with 6 spokes on each wheel. The spokes on each wheel acts like individual mechanical arms which allows the robot to overcome uneven terrain by a crank and push like mechanical action. The WHEELER robot has 2 additional degree-of-freedoms (DOF) in the front which acts as 2 extended arms. These 2 DOF are actuated in an alternating manner by 2 hacked DC servos which are mechanically limited. The alternating manner is driven by the PIC micro-controller which sends alternating driving signal to the 2 servos at regulated interval causing the arms to move up and down. Although the WHEELER robot does not possess any intelligence, it is a simple and effectively platform for testing mechanical locomotion over uneven terrain. Future works that can be conducted on the WHEELER includes the addition of sensors and intelligence allowing the robot to move or navigate through desired path on uneven terrains.
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