American Journal of Mechanics and Applications

Volume 5, Issue 1, January 2017

  • Theoretical Design of a Leg Module for a Hexapod Underwater Robot

    Yazen H. Shakir

    Issue: Volume 5, Issue 1, January 2017
    Pages: 1-7
    Received: 23 August 2016
    Accepted: 3 September 2016
    Published: 7 January 2017
    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 Denavi... Show More