Walking Robot, Parallel Cranks

Simple robot with Parallel cranks mechanism.

Parts:

• TT motor: x1
• 3D printed parts
• Leg x2
• Motor link x2
• free link x2
• Ice stick: x2
• Tapping screw or wood screw (diameter 2 mm, length 6 mm): x12
• Wood stick (Bamboo or any material is fine): Diameter= 2.5-3mm, Length= 37mm
• AA battery box (with switch): x1
• AA batteries: x1
• Electric wire: 100 mm
• Thick double-sided tape
• Solder

Hand tools

• 3D printer
• Saw
• screwdriver
• Soldering iron

Down load the 3D model and print it.

Material: PLA or any

Resolution: 0.3mm or thinner

Cut the wood stick(Diameter: 2.5-3mm) to 37mm length.

Make a 2mm hole in the ice stick and cut off the excess. You can make holes in exactly the same position by stacking two ice sticks by fixing them with tape, and then making holes. The wood screw should be rotate freely in the hole. If the rotation seems to be tight, widen the hole slightly.

Attach the battery box to the TT motor unit. Since the surface of the motor unit is not flat, use thick double-sided tape.

Solder the wire between battery box and motor. Due to the characteristics of the robot, it moves properly in either the front or back direction. If you want to decide the direction to go, temporarily fix the wire and move it, check the direction of rotation, and then solder.

Attach the crank to the output shaft from the motor. The shaft of the TT motor unit is flat on two sides. Since the crank is also made in that shape, the force is transmitted without the shaft slipping. By tightening with screws, you can grasp the shaft tightly.

Install the crank on the other side in the same way. At this time, install so that the angle between them is 120 degrees.

First, insert the cut wood stick into the hole of the TT motor.

Attach the crank (for the free rotation shaft) to the wood stick. Don't install the crank on the other side yet.

Attach the ice stick on only one side.

Put an ice stick on the other side as well. Insert the crank into the wood stick and attach the ice stick before fixing the crank shaft.

After adjusting the angle of the second ice stick, fix the crank shaft.

Finally, attach the legs. My daughter helped me.

Now, ready to walk.

Let's turn on the switch!