Hexapod - Robot
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The document outlines the development of a six-legged hexapod robot designed for basic mobility tasks like walking and climbing steep terrains. It discusses the robot's modular leg design, its components, and the programming and mechanical structure necessary for its functioning. The report also emphasizes potential applications in exploration and rescue operations in various environments.
Hexapod - Robot
- 2. MODEL ROBOT
- 3. ABSTRACT The aim of the project is to build a six‐legged walking robot that is capable of basic mobility tasks such as walking forward, backward, rotating in place and raising or lowering the body height. The legs will be of a modular design and will have three degrees of freedom each. This robot will serve as a platform onto which additional sensory components could be added, or which could be programmed to perform increasingly complex motions. This report discusses the components that make up our final design.
- 4. INTRODUCTION Walking machines are desirable because they can navigate terrain features that are similar in size to the size of the robot, whereas wheeled and tracked vehicles are only suitable for obstacles smaller than half the diameter of the wheel. Furthermore, if given an ability to find locally horizontal footholds in regionally steep terrain, they can climb extreme angles. Applications potentially include reaching territories which are unreachable or dangerous for humans, exploration, mining, military, rescue, and industrial environments, on earth and beyond. For walking machines, mostly two legged (biped), four legged (quadruped), and six legged (hexapod) constructions are used. The hexapod is the most stable of the named machines. This is why an autonomous hexapod robot was built with 18 DOFs (degree of freedom).
- 5. DESIGN CONSIDERATION The mechanical structure of robot body. leg architecture. actuators and drive mechanisms. power supply. walking gaits and speed. obstacle avoidance capability. Payload. Autonomy. operation features. cost.
- 6. COMPONENTS 1. ATMEGA-8 {Micro Controller}. 2. Crystal Oscillator. 3. Toggle Switch-1 {ON/OFF} , Toggle Switch-2 {DS/LS}. 4. USB-Port {For Programming}. 5. 2 Motors & 2 Couplers. 6. Battery 9Volt. 7. Plastic Legs.
- 7. CONSTRUCTION
- 8. CONSTRUCTION
- 9. CONSTRUCTION
- 10. CONSTRUCTION
- 11. SOFTWARE USED HID BOOTFLASH SOFTWARE
- 12. PROGRAMMING
- 13. SOURCE CODE #include<avr/io.h> #include<util/delay.h> int main(void) { DDRD=0xF0; //Setting the data direction of PORTD where motors are connected while(1) { PORTD=0x60; //moving ROBOT forward _delay_ms(1000); PORTD=0x90; //moving ROBOT backward _delay_ms(1000); } }
- 14. CONCLUSION An overview of the state of the art on six-leg walking robots is detailed. Careful attention is paid to the main design issues and constraints that influence the technical feasibility and performance of these systems. A design procedure is outlined in order to systematically design a six-leg walking robot.
- 15. REFERENCE http://poisson.me.dal.ca/~dp_08_02/Site/Documentation_files/Build_Report.pdf http://www.uni-obuda.hu/journal/Burkus_Odry_13.pdf http://www.technophilia.co.in/Workshop_Details.aspx?WorkshopModuleId=1&Worksh optypeId=79