Design of hoeckens linkage based walking robot with MPU6050 IMU as navigation sensor

Abstract

This article introduces a 4-legged walking robot using Hoeckens Linkage. In some applications, a legged robot is preferred if compared with a wheeled robot because it has a more considerable degree of freedom and can move on uneven surfaces. Hoeckens Linkage is one of the linkages that can convert rotational motion to approximate straight-line motion, which allows the robot to move faster than other linkages. This robot is designed using SolidWorks to simulate the Hoeckens linkage path, and its structure is built using 3D printed parts. Arduino Mega was used as a microcontroller to process the feedback signals so that the robot able to move in the desired pattern. The hall effect encoders were used so that DC motors always rotate with the desired RPM regardless of walking surfaces and power supplied to them. MPU 6250 gyro sensor also be used in this walking robot as a navigation sensor. Gyro sensor allows the robot to travel in a straight line or rotate a certain degree by computing yaw value from its raw data and DC motors’ control speed using a P controller. The speed average of the fabricated robot is 3.00 m/min.

A hand gestures recognition system for industrial robot control

“…It consists of four subsystems: action acquisition module, control circuit, upper computer and industrial robot. The core components in action acquisition are MPU6050 modules which can collect acceleration and angular velocity data of the hands in real time [12] .The MPU6050 is a 6-axis motion processing element composed of three gyroscopes and three acceleration sensors. Arduino Uno is used in control circuit which communicates with MPU6050 through the I2C protocol.…”