ByroBot!
The Legged & Wheeled Robot
Byron Johns
MS/PhD Student in Mechanical Engineering
Email Me! gth735p@mail.gatech.edu
MS Thesis Title:
Design and Control of a Reconfigurable Robotic Exploration Mobility Platform: ByroBot! - The Legged & Wheeled Robot
Abstract
The development of a new family of robotic vehicles for use in the exploration of Mars and other remote planets is an ongoing process. Current rovers have to traverse rough terrain and be able to withstand various conditions on Mars. The goal of this project is to design a new Mars rover mobility system that performs to optimum capability. This project will involve the design and control of a robot that will have the use of wheels, as well as legs, allowing the user to control which ever mobility option they want, and giving the robot the ability to traverse various terrains. This robot, named “ByroBot” after the student who designed it, will have the “spider-robot” legged-design with 6 legs. Each leg will have 3 degrees of freedom, controlled by 3 separate servos, for walking of the legs, and will have 4 wheels each directly attached to the shaft of a DC motor, for four-wheel drive. All of the designing for this new robot is done on Pro-Engineer, and mechanisms and animations will be run to test movement of parts. ByroBot will be built out of a polycarbonate plastic which is a robust material that doesn’t weigh as much as aluminum or other metal. The control system for the robot will be run by the Eyebot, which uses a 25MHz 32bit Controller (Motorola 68332), as well as the SSC-32 Servo Controller from Lynxmotion.com. This new robotic mobility platform will facilitate future Mars exploration.
The ByroBot Project!
About Me
My Resume
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The ByroBot Project!
About Me
My Resume
Georgia Tech ECE HumAnS Lab
Georgia Tech ME Dept.