Brachiation Robot

This robot is designed for brachiation, or arm swinging, and was made to traverse a course that resembles the monkey bars. It is run using a Raspberry Pi 4 to control various servo motors that move its arms. This robot has four, two-link arms with a moveable wrist end-effector hook to grab the bars on the course. The four arm design of this robot allows it two points of contact at all times with the bars and stabilizes it during its "swing" from bar to bar. The robots arms are 3d printed, the hooks are laser cut from wood, and the base is laser cut wood as well.

You can see the first prototype here with a blockier design. The larger metal-gear servos are at the base of each arm. Smaller, plastic-gear servos are at the "elbow" and "wrist" of each arm. A raspberry pi 4 resides at the center of the base controlling all of the arms.

The two middle arms are slightly longer than the two outside arms. This is so that the outside arms can support the weight of the robot and keep it stable while the two longer inner arms can reach ahead and grab the next rungs.

Here you can see the significant difference in length between the inner and outer arms. This being the final design, you can see the shape of the arms has been optimized for weight and movement as compared to the earlier prototype