Linkage Design and Optimisation of a Hexapod Walking Robot Used For Surveillance

Abstract

The technological advancements at the global level have put in a large demand for walking robots in various industrial and domestic applications. The aim of the paper is to develop a Hexapod (robot with six legs) walking robot that is capable of performing basic movement, such as walking forward and backward, carry payloads and used as a surveillance device. A novel robot leg design has been created with Autodesk Fusion 360, linkage mechanisms of the robot leg is determined by using Linkage 2.0 software. Stress and displacement analysis was done in Autodesk fusion360 software in order to determine whether it can hold the self-weight of the robot and the desired payload to carry the surveillance purpose (i.e. medicine, water, blood etc.). Considering all the possibilities final optimized Hexapod robot design is created using Autodesk Fusion 360 software. Mainly, the undertaken design outline takes into account the fundamental features, such as basic structure, motion planning, payload and walking gait. Fabrication of Hexapod robot parts was completed using additive manufacturing technology FDM process.