Pneumatic control of six legged robot

Noridan, Norfadlihady Zharif (2016) Pneumatic control of six legged robot. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In this project, the primary objective is to design and develop a pneumatic control system for six leg insect walking robot. Usually, insect walking robot such as hexapod use stepper motor to move their legged and show the sequence that it’s made. The locomotion of walking robot is more important to any robot no matter for insect robot, wheel robot or bipedal walking such as in term of the number of possible gaits and degree of freedom (DOF). The is a lot of work executed to develop six legged robot that pneumatically control which are fabrication of body part, programming of PLC and testing were carried out after assembly have been made. At the end, it was produce a result which this six legged robot is able to operate by using pneumatic system and controlled by using programmable logic circuit (PLC) control system. Furthermore, this six legged robot is able to follow the gaiting system that have been stated which is tripod gait by using the method of fabrication, programming, assembly and testing. There are several limitation in this project during execution of project which are time, project budgets and improper standard operating procedure. To make improvement and future work for this six legged robot, an improvement need to give more attention on improvement this project servo motor so that this six legged robot is able to move forward and backward. For the extra improvement, the placement of sensors can be considered where this robot able to detect obstacle where it can protect the six leg robot from damaged. Pneumatic system is applied and show the ere mechanism sequence how it work or move. In order to keep insect walking robot in smooth motion there is necessary to develop structured pneumatic control system circuit in term of sequential and logic criteria. The robot controller uses tripod gait for their movement. Numerous works focused on six leg insect walking robot fabrication of mechanical part and complete design of pneumatic control circuit by using PLC system.

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