Theoretical Design of a Leg Module for a Hexapod Underwater Robot
Issue:
Volume 5, Issue 1, January 2017
Pages:
1-7
Received:
23 August 2016
Accepted:
3 September 2016
Published:
7 January 2017
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.
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 Denavi...
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