Đang chuẩn bị nút TẢI XUỐNG, xin hãy chờ
Tải xuống
Tham khảo tài liệu 'mcgraw.hill pic robotics a beginners guide to robotics projects using the pic micro ebook-lib part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Hexapod Walker 147 Figure 10.4 Backward gait for hexapod robot. In the C position the center legs are rotated CCW by about 25 from center position. The robot tilts to the left. Since there is no weight on the front and back right legs they are free to move backward as shown in the D position. In position E the center legs are rotated back to their center position. The robot is not in a tilted position so its weight is distributed on the front and back legs. In the F position the front and back legs are moved forward simultaneously causing the robot to move backward. The walking cycle can then repeat. Turning Left The leg motion sequence to turn left is shown in Fig. 10.5. In position A the center legs are rotated CW by about 25 from center position. The robot tilts to the right. The weight distribution is now on the front and back right legs and the center left leg. Since there is no weight on the front and back left legs they are free to move forward as shown in Fig. 10.4. In the B position the center legs are rotated CCW by about 25 from center position. The robot tilts to the left. Since there is no weight on the front and back right legs they are free to move backward as shown in the C position. 148 Chapter Ten Figure 10.5 Turning-left gait for hexapod robot. In position D the center legs are rotated back to their center position. The robot is not in a tilted position so its weight is distributed on the front and back legs. In position the left legs moved backward while the right legs moved forward simultaneously causing the robot to turn left. It typically takes three turning cycles to turn the robot 90 . Turning Right Turning right follows the same sequence as turning left with the leg positions reversed. Construction For the main body I used a sheet of aluminum 3 in wide X 9 in long X 0.032 in thick. The servomotors are mounted to the front of the body see Fig. 10.6 . The four 11 64-in-diameter holes a little past halfway down the main body are for mounting
