Design and Fabrication of a Quadruped Zoomorphic Robot and Its Mathematical Model Using Denavit-Hartenberg Algorithm

Abstract

Thanks to advances in technology, robotics has been able to effectively replace human beings in dangerous situations and tasks such as exploration, search and rescue and cleaning of hazardous environments. One of the types of robots use to replace human beings in these situations are zoomorphic robots. Therefore, this investigation has the objective of designing and fabricating a quadruped zoomorphic robot with 8 DOF that allows remote control and monitoring through an IOT interface and a mathematical model that describes its kinematics. For the design of this robot, the Hierarchical methodology is proposed, which allows the description of the different disciplines involve in the design. The concept was designed and tested in SolidWorks Motion and Simulation. As a main result, equations are developed to correct the position of the center of mass and prevent the robot from losing balance. It was concluded that the movement pattern that offers the most stability to a quadruped robot is moving one limb at a time in a diagonally-crossed manner.