This document discusses the design and capabilities of a hexapod robot. It consists of 6 legs, each with 3 degrees of freedom, for a total of 18 degrees of freedom. The robot can perform basic tasks like walking forward and backward, as well as rotating. Hexapod robots have applications in areas like flight simulators, search and rescue, manufacturing, and antenna positioning. Their advantages include stability, maneuverability, and robustness compared to other legged and wheeled robots.

2. Introduction
The aim of the project is to build a six-legged
walking robot that is capable of performing basic
tasks, such as walking forward, backward,
rotation, and sidewalk. This robot would serve as a
18-DOF spider robot consist of 6 legs each one
have ‘three’ degrees of freedom, it describes the
kinematic of a hexapod robot. Under certain task-
specific assumption, it is shown that the complex
18-DOF model can be simplified , resulting in an
abstract model.

3. History Of HexaPod

5. Application
Hexapods may be used to test biological theories about insect locomotion and motor
control. Application examples:
Flight and motion simulators
Search and Rescue robots
Manufacturing automation
Positioning of parabolic antennas
Handling technology
Other applications and current research

6. Advantages
• While wheeled robots are faster on level ground
than legged robots, hexapods are the fastest of the
legged robots
• Hexapods are also superior to wheeled robots
• Having maneuverable legs
• In comparison to other multi-legged robots,
hexapods have a higher degree of stability
• Hexapods also show robustness
* Because of all of these benefits, hexapod robots
are becoming more and more common.

7. Leg
• Notation T R R:
• Consists of twisting
joint and two rotation
joints.
• 3-DOF

8. Work Envelope
• Red (no Go Area)
• Orange ( Leg Operational
Area)
• Yellow ( Leg Reach Area)

9. Torque Calculation

10. Static Stability

12. Stability States

13. Actuators
• Servo Motors
Unlike dc motors, with servo motors you can position the motor
shaft at a specific position (angle) using control signal. The motor
shaft will hold at this position as long as the control signal not
changed. This is very useful for controlling robot arms.
Operating voltage 4.2-6V
Operating speed
0.12sec/60degree (4.8v),
0.10sec/60degree (6v)
Stall Torque 1.3 kg.cm (4.8v), 1.3 kg.cm (6v)
Dimension 22.3 x11.8x26.3 mm
Weight 9g

14. Inverse Kinematics
• how legs is moving and how it stretched. Inverse Kinematics
is a big word for a simple concept. "Kinematics" refers to
modeling the position of something (in this case, a robot's leg).
• to calculate what each joint variable is? (If we desire that the
hand be located at a particular point)
• What you are given : the length of each link the position of
some point on the robot
• What you can find : the angles of joint needed to obtain that
position

15. Inverse Kinematics Calculation

16. • Leg extension =
(femur height + coxa height − z)2+(leg length − coxa length)2
• 𝐴 = tan−1
(
Leg length – coxa length
Coxa height + femur height – Z
)

17. • 𝐵 = tan−1
(
Tibia length
Leg extension
)
• 𝑇𝑖𝑏𝑖𝑎 𝑎𝑛𝑔𝑙𝑒 = tan−1(
Leg extension
femur length
)

18. Robot Programing
• Textural programing language to enter commands
into robot controller.
• Improved output capabilities to control external
equipment.
• Communication with supervisory computers.