13 – Cricket Robot Documentation
About Cricket’s Hardware
The following paragraphs explain
each of Cricket’s components.
Chassis
The Cricket body is made from laser
cut ABS plastic. Motors, controller,
switches, and the battery pack are all
mounted on this chassis. This
chassis is strong and easy to
assemble.
Legs
Cricket’s legs are also made from
laser cut ABS plastic. The legs pivot on
a simple screw and a captive nut. The
legs have control arms that transfer the
rotary motion of the servos into linear
forward and backward motion or up and
down motion. Cricket’s foot pads are
made from rubber bumpers which are
attached to the end of the leg.
Servo Motors
Cricket uses three servo motors for
walking and one for the Sonar.
These motors are hobby servo
motors used for model airplanes and
cars. Each motor has three wires that
supply 6 volts (red), ground (black),
and the special controller signal
(yellow). The controller signal is a
special stream of pulses supplied by
the Arduino controller. These pulses
tell the motor what position to go to.
Normally a radio control receiver in a
model airplane or car would supply
this special signal but for Cricket, the
Arduino microcontroller generates
these signals. The motor on the
right side moves the right front and rear legs forwards and backwards. The motor on the
left side moves the left front and rear legs forwards and backwards. The center motor
pulls on the right and left center legs to make the robot lean from one side to the other.
The small blue motor runs the Sonar Sensor.
Summary of Contents for Arduino Walking Robot
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Page 10: ...10 Cricket Robot Documentation Front View...
Page 90: ...90 Cricket Robot Documentation Appendix A Schematics...
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Page 92: ...92 Cricket Robot Documentation Appendix B Parts List...
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Page 94: ...94 Cricket Robot Documentation Appendix C PC Board Layout All Layers Parts Layout...