Mechanical–electrical–pneumatic systematic design exploration of hexapod robot experimental prototype

Abstract

Aiming at the problem of the detect and rescue in the coal mine with the leaking vas, a type of pneumatic hexapod explored robot which uses a high pressure nitrogen cylinder as the power producer is designed. The leg mechanism is designed with three degrees of freedom, the straight line walking and turning gaits are planned, which are testified by the virtual prototype. The control loop of the cylinder is designed with the magnetic valve with three positions and five paths. The air bottle, the reducing valve, the general follow control part (GFC) the magnetic valve with three positions and five paths, the cylinder are selected and the air supply loop of the hole machine is designed, the 3D model of the hole machine is built which is used to confirm the installing form of the hole body. The experimental prototype is obtained at last. The power supply and control circuits of the magnetic valves are designed, the control series is written on the Arduino single chip. The experiment of the leg swing of the robot on the stage is proceeded which verifies the correctness of the design.

Keywords

• robot kinematics
• virtual prototyping
• valves
• motion control
• gait analysis
• legged locomotion
• position control
• detect rescue
• coal mine
• leaking vas
• pneumatic hexapod explored robot
• high pressure nitrogen cylinder
• power producer
• leg mechanism
• degrees of freedom
• virtual prototype
• control loop
• magnetic valve
• air bottle
• reducing valve
• air supply loop
• hole machine
• hole body
• power supply
• control circuits
• mechanical–electrical–pneumatic systematic design exploration
• hexapod robot experimental prototype