Abstract
In this paper a theoretical design of two degrees of freedom (single leg module) of a hexapod underwater robot is carried out. The length of the two links together is (30 cm) and the motor for the joint 2 is mounted inside the robot. In addition, forward kinematics analysis is performed to specify angle of movement for each joint by applying Denavit- Hartenberg notation. Furthermore, 3d drawings show the leg implementation. Finally, MATLAB Simulink is used to design PID controller and examine the control signal.
Highlights
Hexapod robot is a reprogrammable device with six legs which are directly or indirectly attached to the main body of the robot [1]
Many studies in the field of legged robots have mainly focused on six legged robot because of some characteristics related to the stability and flexibility of the robot movement
The importance of studying and analyzing this kind (i.e.: hexapod) is derived from some prevalent strong points, which is possessed by the legged robots in general and the hexapod in particular, that summarized in the table1 below [2-3]: Table 1
Summary
Hexapod robot is a reprogrammable device with six legs which are directly or indirectly attached to the main body of the robot [1] Those legs are controlled by a number of degrees of freedom that measure the autonomy and allow the robot to move within the environment surrounded to accomplish a particular task. 3D imensional representation of the little Crabster 200 leg design and the two types of joints as well [4]. Another example of underwater legged-robot has been projected in [5] namely bio-inspired underwater robot. This conceptual design of the leg is inspired by diving beetles.
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