Department of Mechanical Engineering

Major Project
On
Design and Fabrication of Hexapod Robot with Wireless
Actuation
Presented by
1NH18ME006 Abhishek Kumar
1NH18ME017 Amitoj Singh Sethi
1NH18ME034 Deepak Dewasi
1NH18ME061 Lakshyaraj Singh Sodha

Guided by
Dr. Aditi Raj
Senior Asst. Professor, Dept. of ME, NHCE
 Contents
 Abstract
 Problem Statement
 Introduction
 Literature Review
 Objectives and Design Considerations
 CATIA Model
 Parts
 Methodology
 Fabrication
 Working
 Programming – Source Code
 Experiments
 Bill of Materials
 Gantt Chart
 Application
 Conclusion
 Paper Publication Details
 Certificates
 References
 Abstract

• A hexapod robot is a mechanical robot that walks on

six legs. It imitates insect crawling motion and is the
most famous one in the legged robots category
• The robot will be capable of basic mobility tasks such
as walking forward, backward and stopping.
• The legs will be of a sturdy design and overall robot
will have three degrees of freedom.
• This robot will serve as a platform onto which
additional sensory components could be added, or
which could be programmed to perform increasingly
complex motions.
 Problem Statement
• Robots can function without (or with minimal guidance
from) humans.
• When confronted with outdoor or inside challenging
settings, robots ranging from underwater to aerial require a
path planner to identify their next step movement.
• Hexapod robot was chosen because of it’s static and
dynamic stability.
 Introduction
• Walking robots are desirable because they can navigate
terrain features that are similar in size to the size of the
robot, whereas wheeled and tracked vehicles are only
suitable for obstacles smaller than half the diameter of
the wheel.

• Furthermore, if given an ability to find locally

horizontal footholds in regionally steep terrain, they
can climb extreme angles.
• For walking robots, mostly two legged (biped), four
legged (quadruped), and six legged (hexapod)
constructions are used.
• The hexapod is the most stable of the named
machines. This is why an autonomous hexapod robot
was built with 3 DOFs (degree of freedom) and 18
links (each leg has 6 links).
 Literature Review

• Bluetooth Controlled Hexapod Robot Design (2021)

(K Kavlak, I.A. Kartal)
In this paper, the hexapod robot was designed and manufactured
with Bluetooth control, and the strength analyses of the body and
leg linkage were carried out

• Hexapod Robot Kinematics Modelling and Tripod Gait

Design Based on the Foot End Trajectory (2017) (J.
Sun, J. Ren, Y. Jin, B. Wang and D. Chen)
Referring the configuration of ants, a hexapod robot is designed.
Based on the DH parameters and the homogeneous transformation
matrix, the direct and inverse kinematic models are built, and the
workspace of the foot end is analysed.
• Wireless Control System for Six-Legged Autonomous Insect
Robot (2016) (Swee, Sim Kok, and Amro Al-Qudah)
This paper analyses robot which is controlled wirelessly by using
a Bluetooth xBee module and remote devices including a mobile
phone with android application.

• Design of a hexapod robot with a servo control and a man-

machine interface (2012) (P.S. Pa, and C.M. Wu)
In this study a hexapod robot is used to explore its immediate
environment. The man-machine interface program at the computer
end is designed to detect the surroundings.

• Design of a hexapod robot (2012) (J. Li, Y. Wang and T. Wan)

This paper introduces a new hexapod legged robot that can
autonomously adapt to a variety of terrain; its wheel leg designs
specially to make it has a good obstacle surmounting capacity.
 Objectives and Design Considerations

 Robot's Locomotion & Crawling Strategy of

Hexapod
 Wireless Actuation of Legged Robots
 The mechanical structure of robot body and
architecture of legs.
 Walking Gaits and Speed
 Autonomy
 Operational Features
 Actuators and Drive Mechanism
 Cost
Catia Model
 Parts
• Arduino Uno
• High Torque Servo Motors
• HC05 Bluetooth Module
• Multipurpose Servo Brackets
• Screws & Nuts
• Breadboard
• Perforated Aluminium Strip
• Slotted Angle Metal Strip
• Single Pin Connectors
Arduino Uno
• Open-source microcontroller
board
• The board is equipped with
sets of digital and analog
input/output (I/O) pins
• The board has 14 digital I/O
pins (six capable of PWM
output)
• 6 analog I/O pins
• Programmable with the
Arduino IDE(Integrated
Development Environment),
via a type B USB cable.
 General Pin Functions of Arduino
LED A built-in LED is powered by digital pin 13. The LED is turned on when the
pin has a high value, and it is turned off when the pin has a low value.
VIN When using an external energy source, the Arduino board's input voltage
this pin can be used to supply voltage or to access voltage if it is supplied
via the power jack.
5V This pin receives a controlled 5V from the board's regulator. The DC power
jack (7-20V), the USB connector (5V), or the board's VIN pin can all be used
to power the board (7-20V). Using the 5V or 3.3V pins to supply power
bypasses the regulator and may damage the board.
3V3 The on-board regulator generates a 3.3-volt supply. The maximum current
draw is 50 milliamperes.
GND Ground Pin
IOREF The voltage reference with which the microcontroller runs is provided by
this pin on the Arduino board. The IOREF pin voltage can be read by a
correctly constructed shield, which can then select the right power supply
or enable voltage translators on the outputs to function with 5V or 3.3V.
Reset Usually used to add a reset button to shields that block the main board's
reset button.
Servo Motor
• Operating Voltage: 4.8v-6.6v
• Stall Torque (4.8v): 18.0kg.cm
• Stall Torque (6.6v): 20.0kg.cm
• Servo arms & screws included
and fit with Futaba servo arm
• CE & RoHS approved
• Servo case: Alloy case in the
middle
• Gear Type: Metal gear
• Bearing: Double ball bearing
HC05 Bluetooth Module
• It is used for many applications like
wireless headset, game controllers,
wireless mouse, wireless keyboard
and many more consumer
applications.
• It has range up to <100m which
depends upon transmitter and
receiver, atmosphere, geographic &
urban conditions.
• It is IEEE 802.15.1 standardized
protocol, through which one can build
wireless Personal Area Network (PAN).
• This module works on 3.3 V. We can
connect 5V supply voltage as well since
the module has on board 5 to 3.3 V
regulator.
 General Pin Functions of HC-05
STATE It indicates whether or not the module is connected.
RXD Receive data in a sequential order (received data will be transmitted
wirelessly by Bluetooth module).
TXD Serial data should be transmitted (wirelessly received data by
Bluetooth module transmitted out serially on TXD pin)
GND Ground Pin
VCC/+5V Connect 5V to this pin
EN-M It's used to get the Bluetooth module to respond to AT commands.
This module will work in command mode if the Key/EN pin is set to
high. Otherwise, it's in data mode by default. In command mode, the
HC-05's default baud rate is 38400bps, while in data mode, it's
9600bps.
Other Components
• Breadboard
• Perforated Aluminium Strip
• Slotted Angle Metal Strip
• Single Pin Connectors
• Screws & Nuts
 Methodology

• It mainly consists of a microcontroller which acts as a controlling

unit.
• Android based app is used as an input module that controlled by
the user to move the robot in desired direction.
• The instructions from the microcontroller will help to run the
motors.
• Their will a wireless Bluetooth transmission between the app
and robot.
Program Logic for Robot Control
Fabrication
Working
Programming - Source Code
 Experiments
• The aim of this experiment is to find the speed of
locomotion of robot on different terrains wiz. Smooth
hard surface, grass irregular surface, and sand surface.
• Since hexapod robot are capable to operate on
irregular terrain thus, by conducting this experiment
we can find out the difference in speeds and comment
on overall stability of Robot.
• The hexapod robot used in the experiment weighs
around 0.700kg, body width = 200mm, body length =
250mm and height = 160mm.
• For experiment, we will take 1 meter distance and will
calculate the tie taken by robot to cover this distance,
and hence the speed of operation will be calculated.
Observations

Nature of Distance Time taken Forward Time taken Reverse

Surface for Forward Speed for Speed
Motion Backward
Motion

Flat Surface 1m 12.5 s 0.08 m/s 13.33 s 0.075 m/s

Grass 1m 14.28s 0.07 m/s 17.24 s 0.058 m/s

Surface

Sand 1m 33.33s 0.03 m/s 52.63 s 0.019 m/s

Surface
 Speed in Forward Motion on dif -
ferent terrains
0.09 0.08
0.08 0.07
0.07
0.06
0.05
0.04 0.03
0.03
0.02
0.01
0
Hard Surface Grass Surface Sand Surface

Speed (m/s) Linear (Speed (m/s))

Speed in Reverse Motion on dif -

ferent terrains
0.08 0.075
0.07
0.06 0.058
0.05
0.04
0.03
0.019
0.02
0.01
0
Hard Surface Grass Surface Sand Surface

Speed (m/s) Linear (Speed (m/s))

Results and Discussion
• The speed of hexapod robot is dependent on the nature of
surface, as we can see from the above tabulated data that
robot has its maximum speed over flat hard surface.
• We also saw that robot was dynamically and kinematically
stable during the duration of experiment.
• Now, coming to grass surface, there was not much
difference seen in operation, robot performed good over
grass surface, and was dynamically and kinematically
stable, though the speed reduced marginally when
compared to flat surface, this could be due to irregular
nature of grass.
• At last, the robot was tested over Sand, we saw a loss of
speed, as legs of the robot were sinking in the sand, this
could be corrected by increasing surface area of the legs,
stability was also affected.
 Bill of Materials
Sl No. Part Description Quantity Unit Cost Cost
1 Arduino Uno Board 1 750 750
2 MG996R Servo Motors 3 340 1020
3 HC-05 Bluetooth Module 1 300 300
4 Breadboard 1 50 50
5 U Clamps and other Clamps 6 25 150
6 Perforated Aluminium Strips 16 15 240
7 Connecting Wires 64 - 300
8 Screws and Nuts 64 - 50
9 Tools 4 - 700
10 Miscellaneous - - 440
Total number of Parts -> 160 Total Cost -> 4000
Gantt Chart
 Application

This robot can serve as a platform onto which additional

sensory components like CCD, Night Vision or Thermal
Camera could be added, and could be programmed to
perform increasingly complex motions.
 Conclusion
• An overview of the state of the art on six-leg
walking robots is detailed.
• Careful attention is paid to the main design
issues and constraints that influence the
technical feasibility and performance of these
systems.
• A design procedure is outlined in order to
systematically design a six-leg walking robot.
 Paper Publication Details

Title of Paper - A Review on Path Planning Technique for

Bio-inspired Robots
Paper ID - 7653
Details of Publisher - AIP Proceedings (American
Institute of Physics)
Paper Presented at - International Conference on Smart
Innovations for Society (ICSIS- 2022)” held on May 6-7,
2022.
Organizing Authority - Poornima Institute of Engineering
and Technology, Jaipur
Certificates
 References
• J. Li, Y. Wang and T. Wan, "Design of a hexapod robot," 2012 2nd
  International Conference on Consumer Electronics, Communications
and Networks (CECNet), 2012, pp. 1768-1771, doi:
10.1109/CECNet.2012.6201877.
• P.S. Pa, C.M. Wu, Design of a hexapod robot with a servo control and a
man-machine interface, Robotics and Computer-Integrated
Manufacturing, Volume 28, Issue 3, 2012, Pages 351-358, ISSN 0736-
5845, https://doi.org/10.1016/j.rcim.2011.10.005.
• Wireless Control System for Six-Legged Autonomous Insect Robot
Sim Kok Swee, Amro Al-Qudah MATEC Web of Conferences 54 02001
(2016) DOI: 10.1051/matecconf/20165402001
• J. Sun, J. Ren, Y. Jin, B. Wang and D. Chen, "Hexapod robot kinematics
modeling and tripod gait design based on the foot end trajectory,"
2017 IEEE International Conference on Robotics and Biomimetics
(ROBIO), 2017, pp. 2611-2616, doi: 10.1109/ROBIO.2017.8324813.
• Kavlak, K. & Kartal, İ. A. (2021). Bluetooth Controlled Hexapod Robot
Design. European Journal of Science and Technology, (26), 421-424.
Thank You