Abstract: Many attempts have been made till date to imitate physiological characteristics of biological creatures (mainly insects) using different types of joints and actuators. This has given rise to an all new field in robotics, named bio-mimitecs. In this approach we aim to design and simulate a bio-mimic hexapod (6 legged mobile robot) using the minimum possible number degrees of freedom. It has been found that for a legged robot to be advantageous over a wheeled robot, minimum 3 degrees of freedom is needed per leg. The design presented in this report makes use of two simple revolute joints per leg and the required motion is provided by DC Servo motors. These 2 degrees of freedom will propel the robot in the direction of motion. An additional 1 degree of freedom is desired at each leg to achieve the steering of the robot. This third degree of freedom is removed from each leg and taken common to replace by 2 degrees of freedom at the centre of the robot to achieve the desired steering of the robot. Once the mechanism is finalized, link geometry will be modeled using any CAD software and later it can be checked on anyCAE software for stress analysis. The Kinematic and Dynamic analysis of Hexapod will be done. Also a detailed analysis can be carried out to study the variation in torques for different link lengths. This will help in optimizing the dimensions of the hexapod for particular application.
Keywords – Bio-mimic, Design, Hexapod, Link geometry, Legged robot.
[1]Siegwart R., Autonomous mobile robot,( Prentice Hall of India Pvt. Ltd. New Delhi 2005 )
[2] Bruno Siciliano, Oussama Khatib, (Handbook of Robotics, Springer 2008. )
[3] R.K Mittal, I.J.Nagrath, Robotics and Controls, (TATA-McGraw Hill 2003. ) Papers:
[4] ShibenduShekhar Roy, Ajay Kumar Singh, and Dilip Kumar Pratihar; Analysis of Six- Legged Walking Robots'14th National Conference on Machines and Mechanisms (NaCoMM09), NIT, Durgapur, India, December 17-18, 2009
[5] Abhijit Mahapatra, Shibendu ShekharRoy; Computer Aided Dynamic Simulation of Six- Legged Robot, International Journal of Recent Trends in Engineering, Vol 2, No. 2, November 2009
[6] Cruse H., Dean J., Dürr V., KindermannTh, Schmitz J., SchummM. Control of Hexapod Walking - A Decentralized Solution Based on Biological Data [7] Erden Mustafa S., Six-Legged Walking Machine: The Robot-EA 308, Middle East Technical University.
[8] Mahfoudi C., Djouani K., Bouaziz M. and RechakS, Dynamic Modeling and Control in Operational Space of an Hexapod Robot, 5th WSEAS Int. Conf. on Signal Processing, Robotics and Automation, Madrid, Spain, February 15-17, 2006
[9] Daniel A. Kingsley, A Cockroach Inspired robot with Artificial Muscles, CWRU 2005
[10] Yoseph Bar-Cohen, Biomimetics: mimicking and inspired-by biology, California Institute of Technology, March 2005