Abstract
This research presents a novel, cost effective and indigenously developed educational framework for grasping hands-on concepts of Robotics and Mechatronics. The novelty of the platform lies in its ability to transform its shape from a humanoid to a wheeled mobile robot thus increasing the range of experiments that can be conducted using the proposed platform. The kinematics of the robot’s legs is derived based on Denavit-Hartenberg (D-H) parameters while its 3D model is designed in CAD software. An aluminum-made DC servo actuated prototype consisting of 17 Degree Of Freedom (DOF) bipedal robot with four wheels is then fabricated. Preliminary experiments with the prototype including dynamically stable gait pattern and successful shape transformation and tentative list of experiments using the proposed framework demonstrate efficacy of the platform potentially useful for robotics community academicians, educationalists and hobbyists. Keywords: Educational Platform, Humanoid Robot, Hybrid Mechanism, Wheeled Mobile Robot
Highlights
History of robotics dates back to 1920s
A robotic platform of superior academic impact to practically demonstrate the relevant key concepts has been proposed in this paper
The drawings, schematics, components lists and source codes are available for non-commercial use
Summary
History of robotics dates back to 1920s. the last two decades witnessed technological as well as social revolution in this domain widening the spectrum of robot applications dramatically. The domain of robotics, by definition is highly multi-disciplinary It ranges in scope from the design of electrical and mechanical components to their control and computer systems to algorithms design. This makes it an extremely difficult task, for a newbie, to fully understand the underlying principles of robotics highlighting an urge to have up-to-the-mark educational platforms. These platforms, when integrated with conventional theoretical lectures, facilitate students’ learning by bridging the gap between theory and practice
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