Design and modeling of a mobile research platform based on hexapod robot with embedded system and interactive control

摘要

This paper presents the development of a hexapod robotic research platform for academic use, this platform is characterized by having a virtual environment and a physical model, both for testing and validations. The development emphasizes on procedural character and it has defined stages: Mechanical Design, System Modeling, Embedded System and Control Interface. The mechanical design: preliminary model, motion simulation, physic of materials and manufacture. The system modeling: kinematics, dynamics and locomotion. The Embedded Design: process unit and servo-controller; while Control Interface implements all studies. Finally, the validated procedures demonstrate that is a versatile research platform, which allows validate techniques and studies, and also strengthens the teaching and learning process.