ant robot report

1. 6 LEGGED ANT ROBOT by 14mmt1027
Abstract: In this project proposal of my paper is to make a 6 legged ant robot. It
is taken mainly with reference from Theo Jansen mechanism and from Klenn
mechanism. It is hypothesized to make a motion in the form of ant by providing
different motions through linkages. This analysis may shed light on the future
expandability of the linkage mechanism in bio-inspired robots.
Methodology:
- 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.
Working mechanism:
- 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.

2. - 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 model:
Results: Ant robot walking mechanism is done by the reference of Theo Jansen
mechanism.