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.
| Published in | American Journal of Mechanics and Applications (Volume 5, Issue 1) |
| DOI | 10.11648/j.ajma.20170501.11 |
| Page(s) | 1-7 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2017. Published by Science Publishing Group |
Hexapod Robot, Leg Design, Underwater Legged Robot
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APA Style
Yazen H. Shakir. (2017). Theoretical Design of a Leg Module for a Hexapod Underwater Robot. American Journal of Mechanics and Applications, 5(1), 1-7. https://doi.org/10.11648/j.ajma.20170501.11
ACS Style
Yazen H. Shakir. Theoretical Design of a Leg Module for a Hexapod Underwater Robot. Am. J. Mech. Appl. 2017, 5(1), 1-7. doi: 10.11648/j.ajma.20170501.11
AMA Style
Yazen H. Shakir. Theoretical Design of a Leg Module for a Hexapod Underwater Robot. Am J Mech Appl. 2017;5(1):1-7. doi: 10.11648/j.ajma.20170501.11
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Download@article{10.11648/j.ajma.20170501.11,
author = {Yazen H. Shakir},
title = {Theoretical Design of a Leg Module for a Hexapod Underwater Robot},
journal = {American Journal of Mechanics and Applications},
volume = {5},
number = {1},
pages = {1-7},
doi = {10.11648/j.ajma.20170501.11},
url = {https://doi.org/10.11648/j.ajma.20170501.11},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajma.20170501.11},
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.},
year = {2017}
}
TY - JOUR T1 - Theoretical Design of a Leg Module for a Hexapod Underwater Robot AU - Yazen H. Shakir Y1 - 2017/01/07 PY - 2017 N1 - https://doi.org/10.11648/j.ajma.20170501.11 DO - 10.11648/j.ajma.20170501.11 T2 - American Journal of Mechanics and Applications JF - American Journal of Mechanics and Applications JO - American Journal of Mechanics and Applications SP - 1 EP - 7 PB - Science Publishing Group SN - 2376-6131 UR - https://doi.org/10.11648/j.ajma.20170501.11 AB - 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. VL - 5 IS - 1 ER -
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