Start Date

13-5-2021 10:50 AM

End Date

13-5-2021 11:10 AM

Document Type

Full Paper

Keywords

multi-legged robot, walking robot, double scara, arduino, closed kinematic chain legs

Description

Many walking prototypes have one or more degree of freedom leg mechanisms to obtain walking trajectory. Kinematic synthesis of one degree of freedom mechanisms is required to calculate correct links lengths according to desired trajectory. In this study, we designed, controlled, and tested a six-legged walking robot with double scara legs. Two actuators of double scara robot allows us to arrange any trajectory within workspace of our leg design. Three legs of them are working simultaneously to obtain smooth walking on terrain. Each servo motor attached to leg is working independently. Therefore, we can arrange several movements besides walking. Many parts of our walking robot which are necessary for assembly were designed in SolidWorks. These parts were printed by using a Ultimaker 3D printer with PLA material. Servo actuators of robot was controlled by using PWM pins of Arduino Mega microcontroller. We tested our robot using three different leg trajectories such as square, triangle and smooth trajectories. According to our test, we observed that smooth trajectory is the most energy efficient.

DOI

https://doi.org/10.5038/MVUY6275

COinS
 
May 13th, 10:50 AM May 13th, 11:10 AM

Design of Hexapod Walking Robot with Double Scara Legs

Many walking prototypes have one or more degree of freedom leg mechanisms to obtain walking trajectory. Kinematic synthesis of one degree of freedom mechanisms is required to calculate correct links lengths according to desired trajectory. In this study, we designed, controlled, and tested a six-legged walking robot with double scara legs. Two actuators of double scara robot allows us to arrange any trajectory within workspace of our leg design. Three legs of them are working simultaneously to obtain smooth walking on terrain. Each servo motor attached to leg is working independently. Therefore, we can arrange several movements besides walking. Many parts of our walking robot which are necessary for assembly were designed in SolidWorks. These parts were printed by using a Ultimaker 3D printer with PLA material. Servo actuators of robot was controlled by using PWM pins of Arduino Mega microcontroller. We tested our robot using three different leg trajectories such as square, triangle and smooth trajectories. According to our test, we observed that smooth trajectory is the most energy efficient.