American Journal of Mechanics and Applications

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Theoretical Design of a Leg Module for a Hexapod Underwater Robot

Received: 23 August 2016    Accepted: 03 September 2016    Published: 07 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.

DOI 10.11648/j.ajma.20170501.11
Published in American Journal of Mechanics and Applications (Volume 5, Issue 1, January 2017)
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), 2024. 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
Author Information
  • Department of Systems and Control Engineering, College of Electronics Engineering, Ninevah University, Mosul, Iraq

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  • 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://download.sciencepg.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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