Hexapod Robot

Project Title

Hexapod Robot

Project Area of Specialization Mechatronics EngineeringProject Summary

A biomimetic, six-legged robot, which emulates insect locomotion. The robot is a fully mobile Hexapod capable of multi-directional walking. The hexapod robot is a mechanical vehicle that walks on six legs. Since a robot can be statically stable on three or more legs, the hexapod robot has a great deal of flexibility in how it can move.

Project Objectives

The purpose of the hexapod robot with manoeuvrable wheel is to ease the movement either on the flat surface or on the rough surface.On the flat surface, the robot will move using the manoeuvrable wheel while on incline surface, the robot will climb using its legs.

Project Implementation Method

The Design and implementation of 3D Model Body Structure of hexabot robot
A robot can be statically stable once there are three legs in contact with the ground, and the centre of mass of the robot is with the triangle formed connecting the three legs. Therefore, comparing to a quadruple robot, it takes us no work to make a statically stable hexapod robot, once it moves 3 legs at maximum each time. Moreover, as more legs are available in a hexapod robot, even one or two legs are temporarily broken, the robot can still move.

2) 3D Modelling software:

      We will use Solidworks , a 3D modelling software, to draw our robot based on the kinematics and the design we prefer. After installing a open source plugin called Solidworks STL, we can use Solidworks to export 3D Model to a .STL format, a universal 3D file format supported by most 3D printers. Then we will print different parts of the robot with the 3D printer we selected, XYZ Printing da Vinci 1.0. Printing components: We first need to import different .STL files from Solidworks into XYZware, an software bundled with the printer. The software features internal checking to validate whether the model is 3D printable or not. We first disassemble the robot and print the robot in part level, the main body, joints, feet, to reduce the printing failure,

3) KINEMATIC ALGORITHM:According to the findings of our early studies in robot kinematics, there are two general equations for solving the robot kinematics problem. 1. Forward Kinematics 2 Inverse Kinematics. However, since both equations are just general ideas on how to solve the spatial problem (i.e. calculating the position of a robot arm by the given arm length and degree of each joint), we need a more specific solution which is more efficient and best fitted to hardware design of our robot.

4)  Intelligence of the robot (Obstacle avoidance):First, we will implement a solution working with the ultrasonic sensor. With the ultrasonic sensor attached to the Hexapod robot, our basic approach is that we first implement a function in the micro­computer which constantly triggers the sensor to emit inaudible sound. When the echo is detected by the sensor, the sensor will return a value to the micro­computer. By tracking the time lapse between the emission and reflection, the distance from the robot to obstacle can be calculated with the equation of propagation of wave. With the obtained data, we need a second algorithm for analysing it and doing the path decision making. The most basic decision will be either turn left or turn right if there is an obstacle presented in front of the robot. 

5. Design and implementation of Smartphone App :We will develop a mobile application to control the hexapod robot,users can control the motion of robot with ease by clicking buttons,Users can also voice out the commands.

Benefits of the Project

Hexapod robots have many advantages over other kinds of multi-legged walking robots: they can easily get and keep their equilibrium while moving (they are statically stable); they have the ability to adapt to irregular surfaces of different nature; they have redundancy of legs (it allow them to continue their task even if they lose a limb); they are omnidirectional and are less affected by environmental conditions than robots with wheels. Their advantages make them suitable for tasks requiring some degree of autonomy and high levels of reliability. Among the possible fields of application for hexapod robots, we have volcanic exploration, rescue procedures, detection of antipersonal landmines, undersea operations (marine floor), as well as sample collection, search for life, recognition missions in extraterrestrial exploration. The most of those tasks are hazardous and are usually accompanied by harsh environments, not compatible with human operation

Hexapod robots have many advantages over other kinds of multi-legged walking robots: they can easily get and keep their equilibrium while moving (they are statically stable); they have the ability to adapt to irregular surfaces of different nature; they have redundancy of legs (it allow them to continue their task even if they lose a limb); they are omnidirectional and are less affected by environmental conditions than robots with wheels. Their advantages make them suitable for tasks requiring some degree of autonomy and high levels of reliability. Among the possible fields of application for hexapod robots, we have volcanic exploration, rescue procedures, detection of antipersonal landmines, undersea operations (marine floor), as well as sample collection, search for life, recognition missions in extraterrestrial exploration. The most of those tasks are hazardous and are usually accompanied by harsh environments, not compatible with human operation

Technical Details of Final Deliverable

Key deliverables of the hexapod project are narrowed down to four project objectives. First, to design for simplicity by minimizing the number of actuators used to facilitate robot locomotion. Second, to use rapid prototyping to manufacture all major mechanical components. Third, to develop a wireless control system which will allow the robot to move forwards, backwards, and turn. And fourth, to use materials which are lightweight and durable, yet easily replaceable.

Key deliverables of the hexapod project are narrowed down to four project objectives. First, to design for simplicity by minimizing the number of actuators used to facilitate robot locomotion. Second, to use rapid prototyping to manufacture all major mechanical components. Third, to develop a wireless control system which will allow the robot to move forwards, backwards, and turn. And fourth, to use materials which are lightweight and durable, yet easily replaceable.

Final Deliverable of the Project HW/SW integrated systemCore Industry SecurityOther Industries Agriculture , Food , Transportation Core Technology RoboticsOther Technologies Internet of Things (IoT)Sustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Key deliverables of the hexapod project are narrowed down to four project objectives. First, to design for simplicity by minimizing the number of actuators used to facilitate robot locomotion. Second, to use rapid prototyping to manufacture all major mechanical components. Third, to develop a wireless control system which will allow the robot to move forwards, backwards, and turn. And fourth, to use materials which are lightweight and durable, yet easily replaceable.