Volume 5, Issue 1, January 2017, Page: 1-7
Theoretical Design of a Leg Module for a Hexapod Underwater Robot
Yazen H. Shakir, School of Electronic and Electrical Engineering / MSc Mechatronics and Robotics Program, University of Leeds, Leeds, United Kingdom
Received: Aug. 23, 2016;       Accepted: Sep. 3, 2016;       Published: Jan. 7, 2017
DOI: 10.11648/j.ajma.20170501.11      View  5022      Downloads  200
Abstract
In this paper a theoretical design of two degrees of freedom (single leg module) of a hexapod underwater robot is carried out. The length of the two links together is (30 cm) and the motor for the joint 2 is mounted inside the robot. In addition, forward kinematics analysis is performed to specify angle of movement for each joint by applying Denavit- Hartenberg notation. Furthermore, 3d drawings show the leg implementation. Finally, MATLAB Simulink is used to design PID controller and examine the control signal.
Keywords
Hexapod Robot, Leg Design, Underwater Legged Robot
To cite this article
Yazen H. Shakir, Theoretical Design of a Leg Module for a Hexapod Underwater Robot, American Journal of Mechanics and Applications. Vol. 5, No. 1, 2017, pp. 1-7. doi: 10.11648/j.ajma.20170501.11
Copyright
Copyright © 2017 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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