Final Design Solution

Below are two short video clips which demonstrate RoboCrab's mechanism and ability to move.

 

 

Evaluation

The final design solution is successful in terms of integrating mechanical linkages and a pic driven motor board to create movement. A good range of movement is delivered in a smooth action via the linkage mechanism, this could only have been achieved with the accuracy of CAD/CAM. Although function of the mechanism is maximised by CAD/CAD, the aesthetic benefits must not be overlooked. Laser cutting all the components ensured a high quality finish on all the components leaving them with no further finishing requirements. 

Aesthetically I believe RoboCrab reflects the research undertaken and references the crab form in a sculptural, but not explicit way. The chosen system of linkages further adds to the aesthetic and to a large extent determined to overall aesthetic-RoboCrab really is an example of form follows function. Transparent acrylic was deliberately chosen to expose all the moving parts and electrical components to help create a real machine aesthetic.

Unfortunately the range of movement seems insufficient to make RoboCrab walk independently. This could be due to any number of faults or a combination of more than one. However, I believe with further work this could be resolved.

Design, Manufacture and Programming of the Circuit Board

As stated in the brief, this project centres around using a Genie E18 Peripheral Interface Control (PIC) circuit. The image below details the the layout of the board used to drive the mechanism used in the RoboCrab.

  

Following the circuit diagram each component was individually soldered onto the board ready for programming.

The flow diagram pictured above details how the circuit was programmed to drive RoboCrab. The two long 'interupt' runs represent what happens if either of the two push to make switches are pressed. Due to the fact that the LED's are are continually there was no need to write them into the programme.