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Shan, Oh Lay (2006) DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD. Universiti Teknologi Petronas. (Unpublished)

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Robots are used to replace humans in some hazardous duty service like bomb disposal and capture information on places that cannot be reached. However, most of the robots used are wheeled robots. Walking machines have the potential to transverse rough terrain that is impossible for standard wheeled vehicles. The mobility of animals, including many insects is typically superior to current legged robots. However, the reality of current technology often encourages engineers to use different designs for the purposes of reducing the number of actuators or simplifying control problem. Thus, the main aim of this project is to design and implement a hexapod walking robot using servo drive mechanism and light weight material for easier control. The project includes constructing the hardware of the machine which is building the structure using appropriate material. The structure is built in the workshop by hand. All sawing and drilling is done using the equipment available in the workshop in Building 22, UTP. To have a stable and rigid structure, the machine is designed to be at its minimum size. This hexapod is designed to move using tripod gait controlled by 3 servo motors. The whole structure is controlled by microcontroller PIC16F877 programmed using C language. The hexapod is able to be controlled manually to move forward, reverse, turning left and right. The walking can be adjusted in 3 different speeds. This hexapod has the object avoidance intelligence using limit switches. The hexapod is able to reverse and find a new walking path if it encounters objects in front of it. With the wireless camera attached in front of the structure, it is able to be used for remote monitoring and rescue operations. The final design is cost effective, light, robust, has easy control and intelligently applicable.

Item Type: Final Year Project
Academic Subject : Academic Department - Electrical And Electronics - Pervasisve Systems - Digital Electronics - Design
Subject: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Engineering > Electrical and Electronic
Depositing User: Users 2053 not found.
Date Deposited: 27 Sep 2013 10:57
Last Modified: 25 Jan 2017 09:46
URI: http://utpedia.utp.edu.my/id/eprint/6897

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