Biomorphic Crawling Machine
Championship project of Competition in NTUME
Championship project of Competition in NTUME
Feature:
It is a biomorphic crawling machine which can turn by change pace of original six feet linkages mechanism. With an RC servo inside the middle of the machine to tilt the stick, which modifies the pin position of each side oppositely. As a result, pace length of one side increases while another decrease, which enables the machine to rotate. |
Story:
Every student in NTUME is required to make their group project in their sophomore year. In ours, we have an obligation to make a biomorphic crawling machine with only one RC servo and one DC motor to pass the challenge stages includes obstacles, hole, and a ramp. It was a difficult problem for all students since without a turning mechanism, the machine will go out of the stage, but there's no existing design we can follow up, we have to design it on our own. During the process, we found much information on the internet and decided to use one of the six feet linkages, since it seems with a potential to be modified.
While building the experimental mechanism of it, I found that moving of the top pin can cause pace change, which revealed a hint of our success. We kept going on with designing with it and finally found that with an RC servo in the middle of it connected with a stick looks most straightforward and elegant which can control both sides with a single element. Since then, the problem was just entirely solved and eventually let us got the championship in our departmental competition.
After this experience, I learned many wood work skills from my partner since digital fabrication is banned in this project. Also experienced the fun of combining the existing mechanism with my own idea and create it on hand. The thing that influenced me the most is that I was totally impressed by the controller which makes the motor to generate indication sounds. As a consequence, I began to learn microcontrollers and create electronic projects with it.
Every student in NTUME is required to make their group project in their sophomore year. In ours, we have an obligation to make a biomorphic crawling machine with only one RC servo and one DC motor to pass the challenge stages includes obstacles, hole, and a ramp. It was a difficult problem for all students since without a turning mechanism, the machine will go out of the stage, but there's no existing design we can follow up, we have to design it on our own. During the process, we found much information on the internet and decided to use one of the six feet linkages, since it seems with a potential to be modified.
While building the experimental mechanism of it, I found that moving of the top pin can cause pace change, which revealed a hint of our success. We kept going on with designing with it and finally found that with an RC servo in the middle of it connected with a stick looks most straightforward and elegant which can control both sides with a single element. Since then, the problem was just entirely solved and eventually let us got the championship in our departmental competition.
After this experience, I learned many wood work skills from my partner since digital fabrication is banned in this project. Also experienced the fun of combining the existing mechanism with my own idea and create it on hand. The thing that influenced me the most is that I was totally impressed by the controller which makes the motor to generate indication sounds. As a consequence, I began to learn microcontrollers and create electronic projects with it.