Gearbox Design for Multi-legged Robots

Abstract

Multi-legged robots are an important research subject due to the many advantages they have when compared to bipedal and quadrupedal robots, such as increased stability. However, not much is yet known of hexapod robots operating at velocities for which they are no longer statically stable. For this reason, BIRDS lab is working on FastAnt, a hexapod robot that will operate using T-motors normally used for drones, with the goal of modeling locomotion of hexapod robots at higher velocities. This will require the use of planetary gearboxes that slow down the motors to a speed appropriate for locomotion. This paper describes the planetary gearbox designs created to be 3D printed and laser cut for this project. Both designs prioritize ease of manufacturing and assembly while fulfilling all other project requirements.