Design, Fabrication and Analysis of a Hexapod

Alli, Sheak Aftab (2015) Design, Fabrication and Analysis of a Hexapod. MTech thesis.



The principle motivation behind the work is to present a fully fabricated Hexapod. Hexapod is a robot that has six legs for movement and thus quite a number of degree of freedom. . Numerous studies have been completed in examination focuses. Moving robots have pulled in significant consideration for a very long while now, on the other hand, just as early as this past year scientists have produced navigator robots, planned and assembled to fulfill the imagination, with exhibitions that can be suitable for handy applications. This paper gives an outline of the best in class on hexapods by alluding both to the early plan arrangements. Cautious consideration is given to the fundamental design issues and requirements that impact the specialized possibility and operation execution. A design flowchart was plotted with a specific end goal to efficiently plan a hexapod. Since the robot has numerous legs, the robot is effortlessly customized to move around in light of the fact that it can be designed to numerous sorts of gaits, for example, tripod, and wave, ripple and quadruped gaits etc. House of quality was used to compare and finalize among the probable design. A novel design has been created with CATIA. Mainly, the undertaken design outline takes into account the fundamental features, such as basic structure and mechanical configuration, electronics schematics, motion planning, payload, and walking gait. Kinematic as well as Dynamic Analysis had to be done using DH forward and Inverse matrix method. Simulation has been done in V-rep and excel simulator. Stress and displacement analysis was done for the feasibility of the model to sustain the weight of the body. Estimated physical parameters have been calculated. Control system design, gait implementation body manufacturing has been discussed. Bill of materials was generated and fabrication of Hexapod was completed. Future possibilities have been discussed.

Item Type:Thesis (MTech)
Uncontrolled Keywords:Hexapod, Gait, CATIA, V-Rep, Kinematics, Simulation, Degree Of Freedom, Error
Subjects:Engineering and Technology > Mechanical Engineering > Mechatronics
Divisions: Engineering and Technology > Department of Mechanical Engineering
ID Code:7508
Deposited By:Mr. Sanat Kumar Behera
Deposited On:12 May 2016 18:01
Last Modified:12 May 2016 18:01
Supervisor(s):Parhi, D R

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