NOTE: This Project Is Still In Progress
Here is a short video i edited while assembling a part of the bionic spider
This Bionic Spider is mainly based on the Klann Linkage Mechanism visualised below
The Reason I utilized this very special and complicated mechanism is to lower the cost of the project by minimizing the number of motors used to power the whole spider
The Spider is a massive 0.75 Meters Long, 8Kg Heavy piece of Engineering with a maximum torque of 14.4 Kilograms on each axis!
You'd be surprised that i use just some 2$ gear motors to drive this beast,
The Power Of Gear Systems!
So, by using 3 of those motors on each axis we get this massive torque in exchange of the speed (That i don't even need)
Gear ratios table for comparison
Some photos i took while working on the electrical system of the spider in my school's Fabrication Laboratory
The whole design is made using Corel Draw Technical Suite and exported as 2D files to be cut on a cnc laser cutter
The Final Ready-To-Print Files
Here is one side of the robot that i tested before the full assembly
Klann Linkage Mechanism Testing
And this is how the simulation turned out
Since i'm using small motors with no encoders, i had to find a way to know exactly where the motors' shafts are. So i designed a disc with some holes where each hole represents a number of degrees and together with an optical interrupter i can calculate the exact degree of the shaft by calculating the number of these holes that have passed the interrupter
The motor shaft-coupled interrupter
The optical interrupter measuring how many holes are registered
I'm intending to use a robotic arm [which is one of my previous projects] ontop of the bionic spider to give it a sense of living
Robotic Arm Integration With The Spider
A snapshot from Blender 3D when i was testing the assembly proccess of the parts before printing
