ANT BEHAVIOUR - In order to give Dino the look and feel of the real bulldog ant, we need to build into the design, the ability to perform those functions.

ANTICS - SITTING & JUMPING

In order to mimic some of the natural movements of an ant, we will have to modify the standard transmission so that we have more control over each limb individually. Fortunately, this is possible without resorting to hydraulics or without the need to radically depart from the transmission that we need for ordinary locomotion. It is an add on - that at the moment we are not keen to show anyone how it works. Just in case Jameson Hunter want the additional protection of a patent. Sorry.

There are some seriously complicated motor/drive arrangements that are trying to achieve the movement we are aiming for, such as 'Hector', from Bielefeld University in Germany, seen below.

We hope to achieve a similar level of adjustment to rough ground, without using much in the way of computing power, and more in the way of mechanical design adaptation. The object is to keep the transmission as simple, hence, as rugged and as economical as possible. KISS

HECTOR - The Biomechatronics research group of Bielefeld University, led by Prof. Dr. Axel Schneider, developed this six-legged walking robot using a stick insect as a model. For the design, the insect's measurements were increased by a factor of about 20. The total length of the robot is roughly 90 cm and weighs 12kg. They say it's a giant stick insect, but it looks more like an ant or a beetle. The project's goal was to better understand the gait of insects and make the underlying coordination principles usable for technical systems. The research team also wanted to investigate fundamental concepts for controlling elastically actuated robotic systems. Now this is something we are also looking at.

Hector's extremely light exoskeleton consists of carbon-fiber reinforced plastic (CFRP). All drive parts and the connections between the leg segments were designed and fabricated in-house in Bielefeld. The legs are made of aluminum alloy, as are ours. The unique features of this robot are the multitude of sensors with which it is equipped and its biologically inspired, decentralized control principle. With its specially designed drives and sensors, it can adapt to the ground conditions while walking - albeit rather slowly. Hector is currently capable of negotiating slightly uneven terrain and overcomes smaller obstacles, such as steps, without difficulty. Our objective is to cope with seriously uneven ground.

As you can see from the picture above, each leg of the walking robot has three joints, so that the movements of 18 joints have to be controlled simultaneously. Each joint is equipped with a brushless Maxon EC 45 (flat) motor. These 50 watt drives are custom units without a lateral connection board. The 18 leg joints are controlled using biologically inspired algorithms, much the same as Dino the DinoBot. Eighteen motors x 50w = 900w or 1.2hp. That's a lot of power in a lightweight robot for not a lot of speed. Granted that all of the motors are not operating all of the time. We assume that Hector can travel faster than seen in the videos.

LEG MASS v COST - Aluminium legs in 28.5mm tubing is likely to be around £35 + delivery, whereas, titanium in 25 and 19mm tubing will run to £138 + delivery. The price for carbon fibre will be significantly higher because of the moulds, but we need leg patterns anyway for film special effects. Please note that this photograph is copyright © Jameson Hunter Ltd 2015. You will need permission from Jameson Hunter to be able to reproduce it. 

LINKS & REFERENCE

J and  S fasteners

battle Kits
Super droid robots shop chains and sprockets
Tetrix Robotics Sprocket_and_Chain_Pack
HPC gears
Gears and Sprockets UK 6mm steel chain
Technobots online 6mm-steel-chain-sprockets
Bearingboys

Kellycontroller  24v-48v 300a separately excited with regen

Myskunkworks 200 amp PWM speed controller

Electric scooter parts speed controllers 48 volt

Buggies built for fun UK links

http://www.electricscooterparts.com/speedcontrollers48volt.html

http://kellycontroller.com/kdz48303gdv24v-48v300aseparately-excited-with-regen-p-1364.html

http://myskunkworks.net/index.php?route=product/product&path=60&product_id=101

http://www.battlekits.com/
http://www.superdroidrobots.com/shop/category.aspx/chains-and-sprockets/128/
http://www.tetrixrobotics.com/TETRIX_Sprocket_and_Chain_Pack
http://www.hpcgears.com/
http://www.gearsandsprockets.co.uk/6mm-steel-chain-sprockets.html/
http://www.technobotsonline.com/6mm-steel-chain-sprockets.html
http://www.bearingboys.co.uk/

http://www.gngebike.com/apps/webstore/products/show/3019663

http://www.electricscooterparts.com/bicyclesprockets.html

https://www.aldebaran.com/

http://www.softbank.jp/en/

http://electronics.howstuffworks.com/gadgets/other-gadgets/stun-gun.htm

http://www.mufg.jp/english/

http://www.maplin.co.uk/

http://www.bostondynamics.com/robot_bigdog.html

http://uk.rs-online.com/web/c/automation-control-gear/sensors-transducers/strain-gauge-accessories/

http://zjmy-lu.en.made-in-china.com/product/YKNnjrEkZWVS/China-800W-36V-W-Bracket-Electric-Motor-Kit-W-Control-Box-Throttle-F-Scooter-My1020.html

http://www.robots.nu/robot-animals/

http://buggies.builtforfun.co.uk/Links/index.php

http://www.maxonmotor.com/maxon/view/application/STICK-INSECT-ROBOT-AB

This website is Copyright © 2024 Bluebird Marine Systems Limited.   The names Bluebird™, Bluefish™, Miss Ocean™, SeaNet™, SeaVax™ are trademarks. All other trademarks are hereby acknowledged. The design of the Robot Ant on this page is design copyright © December 15 2015, all rights reserved - Jameson Hunter Ltd. IMPORTANT NOTE:  Under no circumstances may our products, or those of Jameson Hunter Ltd, be used by any military or law enforcement organization, for any warlike, combat, or peacekeeping crowd control purposes. Anyone purchasing one of these units will be required to sign a binding undertaking (Deed) to that effect. Any unit found to have been purchased by proxy, will be confiscated, along with civil remedy in respect of breach of contract, that all parties in the chain will be vicariously liable for - to include damages for vehicles developed from our designs without our consent - and possible fraud issue from the deception. In addition to copyright theft, the law of passing-off applies.