Cara – High Precision Robot Dog Using Rope
9 months ago
- #engineering
- #quadruped
- #robotics
- CARA is a quadrupedal robot using capstan drives for joint movement, offering advantages like zero backlash and high torque transparency.
- Achieving an exact 8:1 gear ratio required considering the effective diameters of drums, accounting for rope compression under tension.
- The leg design features a 5-bar linkage for even load distribution, compactness, and uniqueness, powered by 8:1 capstan drives with Dyneema rope.
- CARA's structural frame uses carbon fiber for strength-to-weight ratio, with electronics housed in front and back boxes.
- Programming includes homing sequences, kinematic equations for movement planning, and a cycloidal step trajectory for natural gait.
- Stability control allows CARA to stay level on inclines and recover from external forces, with improvements needed for dynamic stability.
- Future improvements include a higher capacity battery, more durable foot material, and enhanced gait sequencing for obstacle navigation.
- Potential additions to CARA include wheels, unique attachments like a Nerf gun or LiDAR sensor, and autonomous capabilities like object detection.