Design and development of small size animatronics robot mechanical construction

Ng, Wei Yu (2017) Design and development of small size animatronics robot mechanical construction. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Over the last decade, bioinspired legged robots or animatronics robots have become increasingly agile. Legged robot has been applied in many applications due to its high adaptability and stability. However, legged robots tend to be cheaper if compare to mobile robot due to their legged counterparts. Animal characteristic are applied in the design of legged robot due to its flexibility and mobility moving on uneven terrain. Thus, many research study has been done to study the mechanical construction of an animatronics robot. The objective of this study is to develop the mechanical part of robot that has ability to move on uneven terrain. The performance of animatronics robot is studied in terms of validity and repeatability. The designed robot is fabricated and modelled using SolidWorks software. SolidWorks is chosen as the modelling method for the robot since it provides many function tools on design and analysis of robot. Furthermore, many experiments have been carry out in this research to study and analysis the performance and the stability of the designed robot. Experiment using Matlab simulation is done to analyse the trajectory path of Theo Jansen mechanism. Furthermore, real time experiment is carried out to study the actual trajectory path of Theo Jansen mechanism on robot hardware. Then, result is collected in table to aid for discussion. At last, the simulation result and actual result is compared and discussed in graphical method since it is very pertinent to test and determine the validity and limitation of designed robot.

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