djetshu/Quadruped-AllTerrain-Robot
This repository focuses on the development of a quadruped robot with 4 legs, designed for increased agility and towing capacity. It highlights the hermetic IP67 and scalable mechanical design, along with the robot's lifting capacity (10kg payload) and technical specifications.
Quadruped-AllTerrain-Robot
Introduction
This repository contains information about the design and development of a quadruped robot. It includes details about the advantages of legged robots over wheeled robots, commercial and popular products in the field, mechanical design, and more.
Advantages of Robots with Legs / Legs over Wheeled Robots
- Greater ability to overcome obstacles - agility
- Increased pulling force
Commercial and Popular Products
| Anymal C - ETHZ / Anybotics | Spot - Boston Dynamics | Cheetah - MIT |
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Leg mechanism |
Leg mechanism |
Leg mechanism |
| Motors in joints | 4 bars | Synchronous belts |
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Mechanical design of Quadruped AllTerrain Robot
- Length: 63 cm
- Width: 49 cm
- Standard height: 43 cm
- Motors: CuberMars AK10-9
- Foot sensor: Rokubi FT Sensor
- Materials: Aluminum
- Weight: 18 kg (Mechanics only - estimated final weight: 30 kg)
- Maximum load capacity: 10 kg
Key Features of the Design
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IP 67 Sealed Design
Each motor AK10-9 is fully sealed with couplings and oring components.
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Scalable (Smaller or Larger Robot)
By replacing the plates that connect the motors, the size of the robot can be adjusted within a certain range.
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Modular
Components such as a force sensor or a wheel motor can be easily attached without affecting other mechanical components or completely disassembling the robot.
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Easy Prototyping
Given that simple shapes and geometries of every part of the design, it easy to 3D print and laser cut to prototype.
Next Steps
- Preliminary budget (Actuators, sensors, materials, and machining)
- Prototyping of a leg with 3D printing and laser cutting
- Complete design of wheel attachment in the last joint
- Simulations (torque verification, motion checks)
Contact Information
For inquiries, collaboration opportunities, or questions about the Quadruped AllTerrain Robot project, feel free to contact us:
- Email: queque.daffer@pucp.edu.pe