Hexapod Robot
Hexapod robot is one of the most statically stable and possess a great flexibility while standing or moving due to its movement using six legs that can be easily manipulated. This robot is biologically inspired from the behavior of an insect with six legs. The legs will be of a modular design and ha
Project Title
Hexapod Robot
Project Area of Specialization
Project Summary
Hexapod robot is one of the most statically stable and possess a great flexibility while standing or moving due to its movement using six legs that can be easily manipulated. This robot is biologically inspired from the behavior of an insect with six legs. The legs will be of a modular design and have three degrees of freedom each. So hexapod robot will have total 18 degrees of freedom. The robot movement is controlled with the help of mobile app which is connected with robot with the help of bluetooth module.
Project Objectives
- Determine suitable hardware components for robot structure.
- Derive kinematic and dynamic equations for robot.
- Mechanical design of hexapod robot especially legs.
- Simulate the electronic circuit and robot mechanical design.
- Practically implementation of circuit and robot mechanical design.
Project Implementation Method
We give command from android phone to the Arduino Mega with the help of Bluetooth module which is connected to phone via Bluetooth link and connected with Arduino with the help of Tx,Rx pins. Arduino is connected to the 18 servo motors which are connected with Arduino through PWM pins.
Arduino Mega can control 48 servo motors with the help of library servo.h. The chassis of the robot is made up of PVC material which is light material.
Benefits of the Project
Legged robots like hexapod can traverse uneven ground, step over obstacles and can choose footholds to maximize stability and traction unlike wheeled robots that need flat surfaces. Hexapod Robot can also use or more of its legs as hand to perform dexterous task. A hexapod can still travel by changing its walking mechanism even if some of its legs malfunction or gets damaged.
Technical Details of Final Deliverable
This project gives us brief understanding about legged robots especially hexapod robot. We will get familiar with Inverse and forward kinematics equation and also dynamic equation for legged robots.
It has 18 degrees of freedom which is diffcult task to control. Providing the appropriate walking gait is also a difficult task.
Our hexapod can walk straight and backward, it can also change its walking direction.
Final Deliverable of the Project
Type of Industry
Technologies
Sustainable Development Goals
Required Resources
| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Servo Motor | Equipment | 18 | 320 | 5760 |
| Arduino Mega | Equipment | 1 | 1600 | 1600 |
| Bluetooth Module | Equipment | 1 | 600 | 600 |
| Battery | Equipment | 3 | 250 | 750 |
| Charger | Equipment | 1 | 350 | 350 |
| Chassis | Equipment | 1 | 20000 | 20000 |
| Board | Equipment | 1 | 50 | 50 |
| Screws | Equipment | 40 | 10 | 400 |
| Miscellaneous | Miscellaneous | 1 | 8500 | 8500 |
| Total in (Rs) | 38010 |
If you need this project, please contact me on contact@adikhanofficial.com
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