instructables

Walking Robot, Parallel Cranks

by HandicraftRecordBook

Simple robot with Parallel cranks mechanism.

Supplies:

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 ne): 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

Walking Robot, Parallel Cranks: Page 1

 https://youtu.be/WJ2giFkCpig

Step 1: Print the 3D Model

Down load the 3D model and print it.

Material: PLA or any
Resolution: 0.3mm or thinner

Walking Robot, Parallel Cranks: Page 2

Step 2: Cut the Wood Stick

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

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Step 3: Ice Stick

Make a 2mm hole in the ice stick and cut o the excess. You can make holes in exactly the same position by stacking two
ice sticks by xing 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.

Step 4: Battery Box to the TT Motor Unit

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

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Step 5: Solder the Wire

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 x the wire and move it, check the direction
of rotation, and then solder.

Walking Robot, Parallel Cranks: Page 5

Step 6:

Attach the crank to the output shaft from the motor. The shaft of the TT motor unit is at 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.

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Step 7: Free Rotation Shaft 1

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.

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Walking Robot, Parallel Cranks: Page 8
Step 8: Free Rotation Shaft 2

Put an ice stick on the other side as well. Insert the crank into the wood stick and attach the ice stick before xing the
crank shaft.
After adjusting the angle of the second ice stick, x the crank shaft.

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Step 9: Attach the Legs

Finally, attach the legs. My daughter helped me.

Walking Robot, Parallel Cranks: Page 10

Step 10: Complete!

Now, ready to walk.

Let's turn on the switch!

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