View of TEC-BOT completed.
The following pictures show different views of TEC-BOT. They show several details of the robot assembled as well as the schematics that were etched using the milling machine at WMU.
View of TEC-BOT completed.
A view of TEC-BOT before the components are attached.
Exploded and construsted views of a single leg.
A close-up of a constructed, single leg as it is attached to TEC-BOT.
Another close-up showing couple of the legs.
The bottom view of a single leg. This picture demonstrates how a pulley is used to move the leg forward and a spring to pull the leg back into resting position. The spring also stretches the nitinol to original length when current is disconnected from the wire.
The motion of the leg is controlled by the contraction of the nitinol wire. When the wire contracts, it pulls on the shorter, inner end of the leg, and it moves the longer end of the leg a greater distance.
The bottom showing the attachment of all of the legs.
Another view of the bottom.
The back view of TEC-BOT.
The front view of TEC-BOT.
The side view of TEC-BOT.
The top view of TEC-BOT. On the left is the micro controller circuit board, and on the right is the leg power distribution circuit board.
A close-up shot of the micro controller used. The penny shows how small the processor is.
The etched schematic of the main circuit board.
The etched schematic of the leg power distribution circuit.
This is another robot called Stiquito. The idea for TEC-BOT came from this little walking robot using six legs, and nitinol for it's propulsion.
View of TEC-BOT completed.