Comparison of Kinematic Analysis of Robot Made of Conventional Theo Jansen Mechanism, Modified Theo Jansen Mechanism of PLA and Modified Theo Jansen Mechanism of Mild Steel

摘要

This paper presents the design analysis of an intellectual model of an autonomous surveillance robot. The principal objective is to do surveillance in the muddy or desert area or on that region where the surface is less grippy. This is the first spider robot, which will, made by Polylactic Acid (PLA) material and is having eight legs controlled by two DC servo motors. The mechanism, which is used to make those legs, is Theo Jansen mechanism, which is one of the animal walking patterns. To do the surveillance, a 360-degree rotating camera is used which is having its own working module. Arduino controls all the electronics and that Arduino takes power to run itself as well as all the other systems by 12 V DC battery. And this paper compares the performance of robots made with the same material (PLA) but, works on two different mechanisms, named as between conventional Theo Jansen mechanism and modified Theo Jansen mechanism. In addition to that, it also compares the performance of robots made with two different materials, Mild Steel (MS) and Polylactic Acid (PLA), having the same mechanism as modified Theo Jansen mechanism.