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As you may notice in the video, there are two pairs of legs on either side of the crab body in addition to a pair of claws on the front and a pair of small legs on the rear side. The two pairs on either side are the main source of motion. The front claws and the rear legs serve as support apart from the obvious predatory function of the front claws. For this course, we decided to Though the crab can be categorized into a multi-degree of freedom system, we felt that it is possible to divide the motion into two categories - planar and lateral movements - by repeated analysis of the video (see above). Therefore, we are investigating through this project, the ability of 1-dof planar mechanism to mimic the planar motion of each leg in the coconut crab. If this attempt is successful, our goal of proving that simple mechanisms can predict complex motions will be achieved.
Tasks
In order to achieve our goal, we had decided to divide our work into several tasks and those are listed below.
| Tasklist |
|---|
Map the trajectory of joints in each leg
Trials using Graphical Three-position synthesis
Improving the synthesis result from Task 2
Investigating prototyping methods
Actual prototyping
Reflections and Future work |
Mapping the Trajectory
The trajectory of each link was mapped