The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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CrabBot: A Milli-Scale Crab-Inspired Crawling Robot using Double Four-bar Mechanism

CrabBot: 이중 4절 링크를 활용한 꽃게 모사 8족 주행 로봇

  • Received : 2019.08.20
  • Accepted : 2019.10.13
  • Published : 2019.11.30
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Abstract

Milli-scale crawling robots have been widely studied due to their maneuverability in confined spaces. For successful crawling, the crawling robots basically required to fulfill alternating gait with elliptical foot trajectory. The alternating gait with elliptical foot trajectory normally generates both forward and upward motion. The upward motion makes the aerial phase and during the aerial phase, the forward motion enables the crawling robots to proceed. This simultaneous forward and upward motion finally results in fast crawling speed. In this paper, we propose a novel alternating mechanism to make a crab-inspired eight-legged crawling robot. The key design strategy is an alternating mechanism based on double four-bar linkages. Crab-like robots normally employs gear-chain drive to make the opposite phase between neighboring legs. To use the gear-chain drive to this milli-scale robot system, however, is not easy because of heavy weight and mechanism complexity. To solve the issue, the double-four bar linkages has been invented to generate the oaring motion for transmitting the equal motion in the opposite phase. Thanks to the proposed mechanism, the robot crawls just like the real crab with the crawling speed of 0.57 m/s.

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References

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