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

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.

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Walking Robot Leg Design Based on Translatory Straight-Line Generator

ROMANSY 23 - Robot Design, Dynamics and Control - CISM International Centre for Mechanical Sciences ◽

10.1007/978-3-030-58380-4_32 ◽

2020 ◽

pp. 264-271

Author(s):

Sayat Ibrayev ◽

Nutpulla Jamalov ◽

Amandyk Tuleshov ◽

Assylbek Jomartov ◽

Aidos Ibrayev ◽

...

Keyword(s):

Walking Robot ◽

Straight Line ◽

Robot Leg ◽

Leg Design

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CONTROL OF THE HEXAPOD WALKING ROBOT / ŠEŠIAKOJO ŽINGSNIUOJANČIO ROBOTO VALDYMAS

Mokslas - Lietuvos ateitis ◽

10.3846/mla.2013.17 ◽

2013 ◽

Vol 5 (2) ◽

pp. 96-100

Author(s):

Raimondas Zubavičius ◽

Nerijus Paulauskas ◽

Martynas Šapurov

Keyword(s):

Inverse Kinematics ◽

Servo Control ◽

Movement Trajectory ◽

Control Methods ◽

Hexapod Robot ◽

Walking Robot ◽

Control Signals ◽

Leg Movement ◽

Robot Leg ◽

Three Degree Of Freedom

The analysis focuses on control features of the hexapod walking robot with three degree-of-freedom legs. This paper describes different servo control methods and presents the developed algorithm for formation of servos control signals. The geometric inverse kinematics method was used to calculate the angles of each joint of a leg. The authors present the results of the experimental investigation on the hexapod robot leg movement trajectory. Article in Lithuanian. Santrauka Nagrinėjami šešiakojo žingsniuojančio roboto kojų, turinčių tris judrumo laipsnius, valdymo ypatumai. Aprašomi skirtingi valdomųjų mechanizmų valdymo būdai, pateikiamas sudarytas programos algoritmas valdomųjų mechanizmų valdymo signalams formuoti. Aprašyta, kaip randami atskirų roboto kojos dalių tarpusavio kampai taikant geometrinį atvirkštinės kinematikos metodą. Pateikiami šešiakojo žingsniuojančio roboto maketo tyrimo vienos kojos judėjimo erdvėje rezultatai.

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A biologically inspired approach to feasible gait learning for a hexapod robot

International Journal of Applied Mathematics and Computer Science ◽

10.2478/v10006-010-0005-7 ◽

2010 ◽

Vol 20 (1) ◽

pp. 69-84 ◽

Cited By ~ 16

Author(s):

Dominik Belter ◽

Piotr Skrzypczyński

Keyword(s):

Fitness Function ◽

Search Space ◽

Walking Robots ◽

Hexapod Robot ◽

Walking Robot ◽

Insect Behaviour ◽

Biologically Inspired ◽

Gait Patterns ◽

Gait Learning ◽

The Given

A biologically inspired approach to feasible gait learning for a hexapod robotThe objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot's mechanics and drives on a flat terrain. Biological inspirations are commonly used in the design of walking robots and their control algorithms. However, legged robots differ significantly from their biological counterparts. Hence we believe that gait patterns should be learned using the robot or its simulation model rather than copied from insect behaviour. However, as we have foundtahula rasalearning ineffective in this case due to the large and complicated search space, we adopt a different strategy: in a series of simulations we show how a progressive reduction of the permissible search space for the leg movements leads to the evolution of effective gait patterns. This strategy enables the evolutionary algorithm to discover proper leg co-ordination rules for a hexapod robot, using only simple dependencies between the states of the legs and a simple fitness function. The dependencies used are inspired by typical insect behaviour, although we show that all the introduced rules emerge also naturally in the evolved gait patterns. Finally, the gaits evolved in simulations are shown to be effective in experiments on a real walking robot.

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The walking robots critical position of the kinematics or dynamic systems applied on the environment model

International Journal of Engineering & Technology ◽

10.14419/ijet.v7i2.28.12896 ◽

2018 ◽

Vol 7 (2.28) ◽

pp. 134

Author(s):

Marcel Migdalovici ◽

L Vladareanu ◽

Hongnian Yu ◽

N Pop ◽

M Iliescu ◽

...

Keyword(s):

Dynamic Systems ◽

Inverse Method ◽

Dynamic Models ◽

Walking Robots ◽

Robot Kinematics ◽

Walking Robot ◽

Critical Position ◽

Environment Model ◽

Robot Leg ◽

Free Parameters

The exposure is dedicated in the first to mathematical modeling of the environment where the aspects on the walking robots evolution models are described. The environment’s mathematical model is defined through the models of kinematics or dynamic systems in the general case of systems that depend on parameters. The important property of the dynamic system evolution models that approach the phenomenon from the environment is property of separation between stable and unstable regions from the free parameters domain of the system. Some mathematical conditions that imply the separation of stable regions from the free parameters domain of the system are formulated. In the second part is described our idea on walking robot kinematics and dynamic models with aspects exemplified on walking robot leg. An inverse method for identification of possible critical positions of the walking robot leg is established.

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Feasibility Study of Designing a Three Legged Walking Robot: Tribot

ASME 1991 Computers in Engineering Conference: Volume 2 — Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls ◽

10.1115/cie1991-0154 ◽

1991 ◽

Author(s):

Yueh-Jaw Lin ◽

Aaron Tegland

Keyword(s):

Feasibility Study ◽

Legged Robots ◽

Walking Robots ◽

Design Parameters ◽

Optimized Design ◽

Motion Simulation ◽

Walking Robot ◽

Design Considerations ◽

Simulation Based ◽

Weight Distributions

Abstract In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.

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Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments

22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems ◽

10.1115/detc1992-0261 ◽

1992 ◽

Author(s):

Peter V. Nagy ◽

Subhas Desa ◽

William L. Whittaker

Keyword(s):

Least Squares ◽

Least Squares Method ◽

Walking Robots ◽

Ground Contact ◽

Walking Robot ◽

Computationally Efficient ◽

The Face ◽

Modeling And Experiments ◽

Stable Gait

Abstract A large number of walking robots walk with a statically-stable gait. A statically-stable walker has at least three feet that are in ground contact at any time. If there are more than three feet in ground contact, the normal (vertical) forces exerted by the ground on the feet of the walker are indeterminate, unless they are measured. Some walking robots may walk with more than three legs in ground contact in order to achieve greater stability. To ensure this stability it is desirable to predict how vertical forces passively redistribute underneath the feet during walker motions. Predictions of future foot forces can be used as a basis for accepting or rejecting any planned walker motion. Two methods — the least-squares method and the compliance method — for predicting this redistribution of forces in the face of static indeterminacy are presented in this work. Both methods are computationally efficient, and give reasonably accurate predictions, as verified by experiments on a walking robot.

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Analysis of Jansen Walking Mechanism Using CAD

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.166-167.297 ◽

2010 ◽

Vol 166-167 ◽

pp. 297-302 ◽

Cited By ~ 7

Author(s):

Florina Moldovan ◽

Valer Dolga

Keyword(s):

Design Process ◽

Computer Aided Design ◽

Walking Robots ◽

Walking Robot ◽

Short Term ◽

Computer Aided ◽

New Type ◽

Walking Mechanism ◽

Aided Design ◽

Competitive Products

In this article is presented a short classification for walking robots that are based on leg locomotion and the main objectives that walking robots designers must achieve. The leg configuration of the walking robot is essential for obtaining a stable motion. Computer aided design process offers certain advantages for designers who attend to realize competitive products with fewer errors and in a short term. The aim of this article is to present the graphical results of the kinematic analysis of a new type of walking mechanism designed by Dutch physicist and sculptor Theo Jansen using Pro Engineer program and SAM, in order to compare the results.

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Design of a Four Legged Parallel Mechanism to Improve the Dexterity of Walking Robot

Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C ◽

10.1115/detc2009-86361 ◽

2009 ◽

Author(s):

ChiHyo Kim ◽

KunWoo Park ◽

TaeSung Kim ◽

MinKi Lee

Keyword(s):

Parallel Mechanism ◽

Degrees Of Freedom ◽

Jacobian Matrix ◽

Topology Design ◽

Condition Numbers ◽

Walking Robots ◽

Rough Terrain ◽

Parallel Mechanisms ◽

Walking Robot ◽

Intermediate Mechanism

This paper designs a four legged parallel mechanism to improve the dexterity of three layered parallel walking robot. Topology design is conducted for a leg mechanism composed of four legs, base and ground, which constitute a redundant parallel mechanism. This mechanism is subdivided into four sub-mechanism composed of three legs. A motor vector is adopted to determine the 6×8 Jacobian of the redundant parallel mechanism and the 6×6 Jacobian of the sub-mechanisms, respectively. The condition number of the Jacobian matrix is used as an index to measure a dexterity. We analyze the condition numbers of the Jacobian over the positional and orientational walking space. The analytical results show that a sub-mechanism has lots of singularities within workspace but they are removed by a redundant parallel mechanism improving the dexterity. This paper presents a parallel typed walking robot to enlarge walking space and stability region. Seven types of three layered walking robots are designed by inserting an intermediate mechanism between the upper and the lower legged parallel mechanisms. They provide various types of gaits to walk rough terrain and climb over a wall with small degrees of freedom.

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