Gallery

Hardware

Hexapod: Driven by 18 high-torque Servo motor, capable of omni-directional movement, body rotation, line following and carrying up to 8 kg.

Robotic arm: Using carbon tube for aesthetic and functional reason, being able to use inner routing and extremely light weighted. Total weight is 1kg while the lifting ability is more than 5kg.

Software

Self-developed control and monitor interface by OpenGL with reference to the ROS (Robot Operating System).

Using totally analytical solution, produce solutions on the order of ~5 microseconds.

The only goal is to reproduce a given robot as much as possible using CAD software. 

In this course project, the most sophisticated part, ball screw, include its inner mechanism is modeled. How this robot finishes the competition is also simulated. 

The gripper is redesigned and improved using the concept of crank-rod system and rigid-body mechanism.