Development Of Hybrid Wheel-Legged Robot

Soo, Kok Yao (2015) Development Of Hybrid Wheel-Legged Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is focus on the development of hybrid wheel-legged robot. Hybrid wheel-legged robot means this robot is mechanically combination of legged robot and wheel robot. Hybrid wheel-legged robot can choose two modes: wheel mode and leg mode, it is depends on the condition of the terrain. In some areas, there are some mixed terrains. These terrain are mixed from rocky and plane or smooth and sandy or more. Therefore, wheel robot or leg robot cannot perform perfectly as wheel robot can travel fast on smooth and plane surface but it is not stable when move on irregular terrains while leg robot can move stable in irregular terrains but it will move slower in smooth and plane terrain. Based on these conditions, the development of hybrid wheel-legged robot is important to help human to solve these problems. Solidworks software is used to design the hybrid wheel-legged robot. RC servo motor is used to control the leg movement while DC gear motor will be used to control wheel movement. This robot is used arduino as a main controller in order to control the leg movement, wheel movement and the transformation. The robot can control using android phone with App create by MIT App Inventor. The robot connected to android phone via Bluetooth. Hybrid wheel-legged robot is created in order to overcome the disadvantages of wheel mobile robot and leg mobile robot where wheel mode can have high speed movement with plane and smooth terrain while at uneven terrains, leg mode is more suitable and stable. In wheel mode, this robot can move 5cm/s on smooth surface(mosaic) and 3cm/s on rough surface(tar road); while in leg mode, this robot move 1cm/s on smooth surface(mosaic) and rough surface(tar road). This robot can transform into wheel mode and leg mode by using Apps in android phone; it can move in four directions front, back, left and right.

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