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DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD

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 wheele...

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Bibliographic Details
Main Author: Shan, Oh Lay
Format: Final Year Project
Language:English
Published: Universiti Teknologi Petronas 2006
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://utpedia.utp.edu.my/6897/1/2006%20-%20DESIGN%20AND%20IMPLEMENTATION%20OF%20AN%20INTELLIGENT%20HEXAPOD.pdf
http://utpedia.utp.edu.my/6897/
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spelling my-utp-utpedia.68972017-01-25T09:46:18Z http://utpedia.utp.edu.my/6897/ DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD Shan, Oh Lay TK Electrical engineering. Electronics Nuclear engineering 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. Universiti Teknologi Petronas 2006-06 Final Year Project NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/6897/1/2006%20-%20DESIGN%20AND%20IMPLEMENTATION%20OF%20AN%20INTELLIGENT%20HEXAPOD.pdf Shan, Oh Lay (2006) DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD. Universiti Teknologi Petronas. (Unpublished)
institution Universiti Teknologi Petronas
building UTP Resource Centre
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Petronas
content_source UTP Electronic and Digitized Intellectual Asset
url_provider http://utpedia.utp.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Shan, Oh Lay
DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD
description 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.
format Final Year Project
author Shan, Oh Lay
author_facet Shan, Oh Lay
author_sort Shan, Oh Lay
title DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD
title_short DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD
title_full DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD
title_fullStr DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD
title_full_unstemmed DESIGN AND IMPLEMENTATION OF AN INTELLIGENT HEXAPOD
title_sort design and implementation of an intelligent hexapod
publisher Universiti Teknologi Petronas
publishDate 2006
url http://utpedia.utp.edu.my/6897/1/2006%20-%20DESIGN%20AND%20IMPLEMENTATION%20OF%20AN%20INTELLIGENT%20HEXAPOD.pdf
http://utpedia.utp.edu.my/6897/
_version_ 1739831399289978880
score 13.211869

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