Open AccessDesign of hoeckens linkage based walking robot with MPU6050 IMU as navigation sensor
Author(s) -
Kazushige Ooi,
Mohamed Rosli,
Abdul Rais Abdul Latiff,
W. A. F. W. Othman,
S. S. N. Alhady,
Aeizaal Azman A. Wahab
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1969/1/012004
Subject(s) - robot , linkage (software) , rotary encoder , bang bang robot , inertial measurement unit , encoder , mobile robot , simulation , robot calibration , computer science , articulated robot , hall effect sensor , robot control , engineering , dc motor , artificial intelligence , electrical engineering , magnet , biochemistry , gene , chemistry , operating system
This article introduces a 4-legged walking robot using Hoeckens Linkage. In some applications, a legged robot is preferred if compared with a wheeled robot because it has a more considerable degree of freedom and can move on uneven surfaces. Hoeckens Linkage is one of the linkages that can convert rotational motion to approximate straight-line motion, which allows the robot to move faster than other linkages. This robot is designed using SolidWorks to simulate the Hoeckens linkage path, and its structure is built using 3D printed parts. Arduino Mega was used as a microcontroller to process the feedback signals so that the robot able to move in the desired pattern. The hall effect encoders were used so that DC motors always rotate with the desired RPM regardless of walking surfaces and power supplied to them. MPU 6250 gyro sensor also be used in this walking robot as a navigation sensor. Gyro sensor allows the robot to travel in a straight line or rotate a certain degree by computing yaw value from its raw data and DC motors’ control speed using a P controller. The speed average of the fabricated robot is 3.00 m/min.