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
Leg mechanism	Leg mechanism	Leg mechanism
Motors in joints	4 bars	Synchronous belts

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

• IP 67 Sealed Design

  Each motor AK10-9 is fully sealed with couplings and oring components.

  

• 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.

  

• 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.

  

• 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