v
TABLE OF CONTENT
Abstract
i Abstrak
ii Dedication
iii Acknowledgement
iv Table of Content
v List of Tables
ix List of Figures
x List of Abbreviations
xii
1. INTRODUCTION Background
1 1.2 Insect Walking Robot
1 1.3 Problem Statement
3 1.4 Project Aim and Objective
3 1.5 Scope
4 1.6 Project Planning
4
2. LITERATURE REVIEW 2.1 Background
5 2.2
Actuator 5
2.2.1 Electrical Motors 6
2.2.2 Types of Motor 6
2.3 Pneumatic Actuator
7 2.3.1 Actuator Type Used in Project
8 2.3.2 Advantages of Pneumatic Actuator
9 2.4
Control System Use in Project 10
2.4.1 PLC 11
2.5 Software Design Use in Project
11 2.5.1 Solid Works
12 2.5.2 Automation Studio
13
vi
2.6 Walking Robot Available in the Market
13 2.6.1 Humanitarian Mine Detection Six-Legged Walking
Robot COMET- II with Two Manipulators 14
2.6.2 Intelligent Legged Climbing Service Robot for Remote Inspection and Maintenance in Hazardous Environments
15 2.6.3 Six-LeggedWheeled Security Robot
16 2.6.4 Dash: A Dynamic 16g Hexapedal Robot
17 2.6.5 Maneuvering of a Biologically Inspired Hexapedal Robot
18 2.6.6 Design of an Autonomous Mini Mobile Robot Able
To Interact With Cockroaches 19
2.6.7 Development of Neural Oscillator Based Motion Control System and Applied To Snake-Like Robot
20 2.6.8 A Small, Insect-Inspired Robot That Runs and Jumps
21 2.6.9 A Cockroach-Inspired Hexapod Robot Actuated By LIPCA
22 2.6.10 A Small, Autonomous, Agile Robot with an
On-Board, Neurobiologically-Based Control System 23
2.6.11 Architectures for a Biomimetic Hexapod Robot 24
2.7 Conclusion
25
3. METHODOLOGY 3.1
Background 26
3.2 Project Design and Analysis
27 3.3
Preliminary Conceptual Design 28
3.4 Method of Gait Generation
30 3.5
Methods of Leg Movement 31
3.6 Gait Type Selection
33 3.7
Step Phase Gait 33
3.8 Conclusion
34
4. PNEUMATICALLY A CONTROL INSECT WALKING ROBOT DESIGN 4.1
Introduction 35
4.2 Mechanical Design
35 4.2.1 Concept Generation Design Process
36
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4.2.1.1 Conceptual Design 1 37
4.2.1.2 Conceptual Design 2 39
4.2.1.3 Conceptual Design 3 40
4.3 Pugh Method for Design Selection
42 4.4
Mechanism Idea for Leg Design 44
4.4.1 Conceptual Design 1 44
4.4.2 Conceptual Design 2 46
4.4.3 Conceptual Design 3 47
4.5 Control System Design
49 4.5.1 Forward and Backward
50 4.5.2 Right Direction and Left Direction
52 4.6
Mechanism Controller of Leg Robot 54
5. ANALYSIS AND DISCUSSION 5.1
