Mechanical structure of the Messor robot PDF Print E-mail
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Written by Krzysztof   
Wednesday, 02 February 2011 17:38

The Messor robot is based on the solutions which were well tested in the previous machine the Ragno robot. However a few details ought to be changed.

The dimensions of the leg were changed and adapted to the design requirements. The robot should be able to climb the normalized stairs where the maximal height of the stair is 0.20 m so the length of the last segment of the leg is equal to 0.20 m. The length of the first and the second segment is derived from the proportions of the insect leg segments which is 1:4:5 (segment1:segment2:segment3). The segments are counted from the trunk of the robot. The legs with such a dimensions require motors with higher torque. The Hitec robotics servomotors were used. The stall torque is 2.94 Nm. The design of the new robot leg with the simulation of stress is shown in figure below.

 

 

Looking at the leg one can see that the first motor was attached to the trunk of the robot.  In this solution the shaft of the motor is moving. This prevents from changing position of elements with high inertia. Additionally the motors were fixed in the lowest part of the trunk which gives the low position of the center of mass of the robot.  Another benefit is the symmetry of the leg which eases the control of the robot.

Design of the trunk of the robot

The trunk of the robot is similar to the previous machine, but the dimensions were changed. The robot should be able to climb normalized stairs. The design of the trunk was influenced much by this requirements. The robot ought to put two pairs of its legs simultaneously on one step.  In oder to fulfill this assumption the geometrical center of the robot should be 0.19 cm from the front of the robot.

The robot has also special compartments for the electronics. This boxes eases the possible changes in robots control electronics by simply removing one module out of the robot without removing other mechanical parts. The stress for the trunk of the robot was simulated.


 

The structure of the robot in CAD program

 

and in the reality the robot looks like this.

 

 
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