ant robot making

6 legged animal robot mechanismby

deekshit Kumar14mmt1027

THEME: To make a model of 6 legged ant mechanism. To which the motion should be in form similar to ant.

REFERENCE: • It is the mechanism taken reference from Theo Jansen

mechanism.• Theo Jansen has gave a motion for klenn mechanism by

making a model of 6 legged animal mechanism.

Parts used to make the ant robot:• Battery holder• Gear motor• Make it kit as base• Drinking straw• Aluminium wire• 1 terminal block of 4 mm• 2 bolts, nuts and lock nuts

How to prepare ant robot?- Take the make it kit 12-14 holes link.- The link which we used is the frame for the robot.- Screws and nuts are fitted at the extreme positions of link.- In between screw and nut keep a straw in order to get

balance between screw and nut.- Use dc hobby gear motor of 100 RPM and fit the motor into

one of the holes of link. It will be better if we choose centre of the link.

- Prepare the links/legs for ant of front end and rear end.- Prepare links/legs for the middle of the robot these links

should be individual links and it should be attached with dc motor.

- Use terminal block and connect it to the end of rotor output of dc motor.

- From terminal block insert crank in it.- Connect the middle legs to crank.- Make a link from front to rear end and from front end to

crank.

- Use battery holder and connect the connections from battery holder to dc hobby motor.

- It finally produces ant walking mechanism which middle legs drive the front link and from front to rear connected link drives the rear end.

How linkage mechanism works in this ant robot?- Terminal block and crank are the main keys for converting

rotational motion into linear motion.- Middle legs which are made in such a form to connect the

crank.- Overall 3 links are connected to crank in which 2 middle

legs and 1 link of front end to it.- One more link is from front end to rear end.

- Now we can clearly visualise the mechanism.- The crank when starts rotating from terminal block it moves

the middle legs and it drives the front end.- Front end which is already linked with rear drives the motion

automatically as the front moves the rear link starts moving.- This is the overall mechanism of 6 legged ant robot.

Working pics of ant robot

Conclusion:To make a 6 legged ant mechanism with a basis of theo jansen mechanism.