Papers by Keyword: Hexapod

Abstract: The development of arthropod-inspired robotic architecture, modeled after the limbs of insects and other animals, has enabled robots to behave more flexibly and adaptively in different environments. Among these designs, hexapod robots have gained significant attention due to their potential use in disaster rescue scenarios, providing vital support for lifesaving and damage control in emergency situations. This study addresses the numerical analysis of a hexapod robot specifically tailored for use in disaster areas, with a particular focus on the crucial aspect of material optimization. Hexapod robots, equipped with articulated legs that mimic insect-like movements, have shown remarkable success in exploration tasks, especially in navigating hard-to-reach places. The main body of the robot was designed using durable yet lightweight materials to optimize load-bearing capacity for the required equipment and rescue tools. A thorough static numerical analysis was performed to ensure the structural integrity and efficiency of the robot. Finite element simulation programs were used for the static numerical analysis, allowing evaluation of the stresses and deformations to which the robot would be subjected under various loading conditions. The selection of materials played a critical role in improving the robot's performance and survivability during disaster operations. Various materials, including composites and advanced alloys, were tested, and analyzed for their mechanical properties and suitability for harsh conditions. In particular, the resistance of the robot to the impact of a falling cubic reinforced concrete element was investigated by simulating a stone collapse. The results of this study shed light on the influence of materials on the robot's ability to cope with unpredictable and challenging scenarios, ultimately contributing to the development of more robust and reliable Hexapod robots for disaster operations. The results of this research contribute significantly to ongoing advances in robotics technology for disaster operations. By leveraging the unique characteristics of arthropod-inspired Hexapod robots and optimizing their material composition, this study highlights the potential of these mobile devices to revolutionize rescue operations in challenging and hazardous environments, ultimately saving lives and minimizing the impact of disasters.

Abstract: The use of robots in surveillance applications has become increasingly popular due to their ability to access difficult and dangerous terrain. This study focuses on the design and development of a hexapod robot using Internet of Things (IoT) technology for surveillance purposes. The hexapod robot was designed to navigate rough terrain and provide real-time surveillance data via a wireless network. The IoT technology used in the robot included a variety of sensors and electronic components that enabled the robot to capture and transmit video, audio, and environmental data. The effectiveness of the hexapod robot was evaluated through a series of field tests, which demonstrated its ability to navigate rough terrain and provide real-time surveillance data. The study highlights the potential benefits of using IoT technology in surveillance applications and provides insight into future developments in this area. Overall, this study provides a valuable contribution to the field of surveillance robotics and highlights the potential of using IoT technology to enhance surveillance capabilities.

Abstract: The conventional mobile robotic platforms which either uses wheels or legs are quite familiar and each one of them has its own advantages and disadvantages. The wheeled robot is suitable for only plain and smooth terrain, whereas the legged robot can travel in any kind of terrain but is comparatively slower than the wheeled robot. So, a hybrid of both wheeled and legged platform would be quite suitable for any kind of terrain. The primary focus of this paper is to design and develop a leg-wheel hybrid robotic platform with a concurrent engineering and mechatronics approach to produce results with optimised design metrics at each and every stage of its development. An overall view of the entire mechatronics system is considered for design and development of the robot at each and every stage rather than a sequential engineering approach. This paper details the Finite Element Analysis (FEA) of the C – Legs which are used in the robot.

Abstract: The new perspectives with regard to early stage beginning vehicles development introduce the need for using driving simulators also. The objective of this study consists in investigating the stress behavior during driving simulator operation at maximum balance angle. The investigation during functioning of the mechanism (the stresses that occur in the system) starts with the static stress analysis, followed by the investigation for different angular positions from 0° to 10° that are mandatory. The analysis can predict the structural stress level that may become very high and generate deficiencies for the entire assembly while using different materials, including composite materials.

Abstract: In the paper the control problem of the six-legged walking robot is studied. In order to find the relationship between commonly used by insects gaits (trajectory of the foot point) and stable trajectory of mechanical systems, at first we analyse various previous papers and the gaits of the real insects. For control the motion of the tip of the robot leg a nonlinear mechanical oscillator describing stick-slip induced vibrations further referred as central pattern generator (CPG) has been proposed. The advantages of the proposed model has been presented and compared with other previous applied mechanical oscillators. The possibility of control of the tip of the robot leg via changing parameters characterized oscillator working as a CPG has been discussed. Time series of the joints and configurations of the robot leg during walking are presented. The obtained numerical solutions indicate some analogies between the characteristics of the simulated walking robot and animals found in nature. Moreover, some aspects of an energy efficiency analysis (in order to reduce the energy costs) are discussed for the analysed system and the whole hexapod robot. In particular, we discuss the interplay of the proposed gait patterns and the system energy cost.

Abstract: Published paper summarizes development of unique testing stand for experimental testing of railway vehicle gearboxes under dynamic impact and torque load. There is presented a description of design of main parts. Paper also previews the process of implementation and first run-in tests including figures from tuning process and a picture of final design.

Abstract: In this research work, the analysis of a parallel structure, hexapod type, was studied from the rigidity point of view. The modelling of the structure and the assembly were designed in SolidWorks one of the most used software for the design in the construction of machine tools, automotive and aeronautics field. The modal, the static analysis, forces and moment loading, were performed with ANSYS programme by finite element method, for each of the three studied positions of the structure.

Abstract: The paper presents the method basing on engineering knowledge and experience for aiding the design process of hexapods. The method proposed by the authors uses the architecture of a hybrid system, which combines an advisory system and the CBR (Case Based Reasoning) method. The paper includes the formalized description of the developed method and presents the system functioning on the example of the design process of hexapods.

Abstract: Deployment, operation and recovery of an underwater robot are time-consuming and expensive activities which involve a highly skilled team and a complex logistic. An accurate and comprehensive virtual environment is required in order to rapidly designing, developing, in-lab testing and evaluating the working of an underwater robot and to minimize the risks to lose expensive equipment during hazardous in field testing. We formulate the kinematics equations for a hexapod robot with Denavit-Hartenberg description and present the dynamics equations with free body diagram based on isolated body dynamical analysis so as to overcome the difficulties of modeling Lagrange dynamics. As for contact and hydrodynamics effects, we adopt some classic methods and empirical models to obtain realism. The simulation results combining computer graphics with dynamics prove our method valid.

Abstract: This paper investigates the sensorless detection and evaluation of inner oscillations of unknown test objects mounted on a compliant test bench. The principle of the sensorless analysis is that test objects are not totally rigid in reality. This means one or more parts of the test objects are oscillating with different eigenfrequencies compared to their rigid equivalent. By comparing eigenfrequencies of both (rigid and fault test object) oscillating parts are detectable. The aim of this experiment is to demonstrate the use of a 6 DOF compliant Stewart platform (alternatively used in a simulation environment) to generate frequency sweeps in all degrees of freedom, to get a sensorless detection of vibrations in unknown objects. For this purpose only the preexisting sensors applied for the control of the hexapod should be used. The detection of loose parts by shaking objects can be done by a complex robotic manipulation task. Being designed for flexible use by small and medium-sized enterprises, the robotic Stewart platform (hexapod) will adapt autonomously to different test objects leading to a highly flexible robot.