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Theoretical Design of a Leg Module for a Hexapod Underwater Robot

Received: 23 August 2016     Accepted: 3 September 2016     Published: 7 January 2017
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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.

Published in American Journal of Mechanics and Applications (Volume 5, Issue 1)
DOI 10.11648/j.ajma.20170501.11
Page(s) 1-7
Creative Commons

This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.

Copyright

Copyright © The Author(s), 2017. Published by Science Publishing Group

Keywords

Hexapod Robot, Leg Design, Underwater Legged Robot

References
[1] Tedeschi, F., & Carbone, G. Towards the design of a leg-wheel walking hexapod. In Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference, 10-12 Sept. 2014, Senigallia. IEEE, 2014, (pp. 1-6).
[2] Hodoshima, Ryuichi, et al. Development of ASURA I: Harvestman-like hexapod walking robot — Approach for long-legged robot and leg mechanism design. In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference, 3-7 Nov. 2013, Tokyo. IEEE, 2013, (pp. 4669-4674).
[3] Evangelista, & Guillermo. Design and modeling of a mobile research platform based on hexapod robot with embedded system and interactive control. In Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference, 2-5 Sept. 2014, Miedzyzdroje, Poland. IEEE, 2014, (pp. 294-299).
[4] Jung-Yup Kim & Bong-Huan Jun. Design of six-legged walking robot, Little Crabster for underwater walking and operation. Advanced Robotics. 2014, 28 (2), pp. 294-299.
[5] Hee Jong Kim et al. Multi-functional bio-inspired leg for underwater robots. Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference, 14-18 Sept. 2014, Chicago, IL. IEEE. (pp. 1087-1092).
[6] Green Mechanic. Advantages and Disadvantages of Different Types of Gears: [Online]. 2013. [05/01/2015]. Available from: http://www.green-mechanic.com/2014/05/advantages-and-disadvantages-of_7.html.
[7] IEN. Advantages of Worm Gear Reducers. [Online]. 2013. [05/01/2015]. Available from: http://www.ien.com/article/advantages-worm-gear/173134.
[8] RC Helicopter Fun. Digital RC Servos vs. Analog RC Servos. [Online]. 2008-2015. [07/01/2015]. Available from: http://www.rchelicopterfun.com/rc-servos.html
[9] Woodbank Communications Ltd. Electric Drives - Motor Controllers and Control Systems. [Online]. 2005. [Accessed 14 December 2014]. Available from: http://www.mpoweruk.com/motorcontrols.htm
Cite This Article
  • APA Style

    Yazen H. Shakir. (2017). Theoretical Design of a Leg Module for a Hexapod Underwater Robot. American Journal of Mechanics and Applications, 5(1), 1-7. https://doi.org/10.11648/j.ajma.20170501.11

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    ACS Style

    Yazen H. Shakir. Theoretical Design of a Leg Module for a Hexapod Underwater Robot. Am. J. Mech. Appl. 2017, 5(1), 1-7. doi: 10.11648/j.ajma.20170501.11

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    AMA Style

    Yazen H. Shakir. Theoretical Design of a Leg Module for a Hexapod Underwater Robot. Am J Mech Appl. 2017;5(1):1-7. doi: 10.11648/j.ajma.20170501.11

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  • @article{10.11648/j.ajma.20170501.11,
      author = {Yazen H. Shakir},
      title = {Theoretical Design of a Leg Module for a Hexapod Underwater Robot},
      journal = {American Journal of Mechanics and Applications},
      volume = {5},
      number = {1},
      pages = {1-7},
      doi = {10.11648/j.ajma.20170501.11},
      url = {https://doi.org/10.11648/j.ajma.20170501.11},
      eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajma.20170501.11},
      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.},
     year = {2017}
    }
    

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    AB  - 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.
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Author Information
  • Department of Systems and Control Engineering, College of Electronics Engineering, Ninevah University, Mosul, Iraq

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