BOCA BEARINGS 2014 INNOVATION COMPETITION

Walking Quadrotor Aerial Vehicle

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Presented By:
Arash Kalantari
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ABOUT THIS PROJECT


Tell us briefly about your project. Is it a work of art or does it serve another function?

This is a hybrid robot capable of both aerial and terrestrial locomotion. A unique compliant mechanism design makes it possible to use a single actuator set for both walking and flying. This is advantageous because it reduces both the total weight of the system and the control system complexity. The basic structure is similar to a quadrotor aerial vehicle, i.e. four brushless DC motors provide the required thrust for flying. The desired leg motion is derived from two separate linear movements. Horizontal motion of the leg is achieved by driving the main actuators in reverse. A second linear actuation unit, which is set into motion by shape memory alloy (SMA) wires, enables vertical movement of the leg during terrestrial locomotion.

When did you start working on this project and how long did it take you to complete?

I have been working on this project since 6 months ago.

What was your goal in building this project?

I have been trying to increase the functionality of a well known flying mechanism (quadrotor) without adding any primary actuator to the system and by just using the same system actuators.

Does your project help to solve a problem? If so what problem?

The mechanism developed is able to replace the flying system upon landing accurately what is not possible by the quadrotor.

What makes your idea unique?

The usage of a single actuator set for both flying and walking.

In what capacity are you using bearings and what type of bearings?

Four linear bearing sets are used in leg mechanism. The actuators are also using ball bearings.

What is the most important thing you want people to know about your project?

This is the result of starting phase of my research work as a graduate student. I have been trying to be innovative in design of the mechanisms to have a unique system and of course innovative systems can always be improved .

How will you use the $5,000 prize?

The most probably, I will use it for my education costs!

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