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Authors
Affiliations
1 Global Academy of Technology, Rajarajeshwari Nagar, Bengaluru, IN
Source
Manufacturing Technology Today, Vol 19, No 10 (2020), Pagination: 64-68
Abstract
The advancement in technology around the world has a huge demand for walking robots for various applications for the walking control on uneven terrains. This paper designs a hexapod, a six legged spider robot which involves the control of 19 servomotors. The main focus is on the application of ultrasonic and light detecting resistor sensors and the control of servo motors (actuators). The movement is simulated like a 6 foot insect by programming the controller. Shape and mass distribution of the robot is similar to a spider with the purpose of getting stable dynamic walking movement. It has 3DOF (degree of freedom) and all are revolute joints. The feet of hexapod is typically pointed, but also can be tipped with adhesive material or suction tubes which will help to climb walls. This hexapod is designed to turn right, left, forward and backward.
According to the sensors inculcated this robot has a wide range of applications, starting from tracking an obstacle to archeological applications.
Keywords
Hexapod, DOF-Degree of Freedom, Inertia Matrix, Centrifugal Matrix, Gravitational Vector, Jacobian.
