Vol. 2024 No. 1 (2024)
Articles

Design, optimization, debugging, and simulation of an agricultural biomimetic hexapod robot

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  • Wentao Zhang
Wentao Zhang
School of Engineering, University of Aberdeen, King Street, Aberdeen, Scotland, AB24 3FX, United Kingdom
robots

Published 27-01-2024

Keywords

  • biomimetic,
  • hexapod robot,
  • triangular gait,
  • kinematics,
  • control,
  • 3D printing,
  • Borboardino,
  • CoppeliaSim
    • ...More
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Copyright (c) 2024 Cambridge Science Advance

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

How to Cite

[1]
W. Zhang, “Design, optimization, debugging, and simulation of an agricultural biomimetic hexapod robot”, Camb. Sci. Adv., vol. 2024, no. 1, pp. 55–87, Jan. 2024, doi: 10.62852/csa/2024/6.

Abstract

This paper comprehensively studies the model establishment, kinematic analysis, hardware design, software development, and agricultural applications of hexapod robot, laying a solid foundation for their practical application in the agricultural field and proposing prospects for future research and development. This article mainly conducts in-depth research on the mechanical design, kinematic analysis, hardware implementation, software development, and application in the agricultural field of hexapod robots. Firstly, a brief introduction to biomimetic robots will be provided, and a comparative analysis will be conducted on existing common legged robots. Afterwards, use solidworks-2021 for 3D modeling to draw the legs and main structure of the robot. In terms of kinematic analysis, by studying the mechanism structure and motion characteristics of hexapod robot, the forward and inverse kinematic equations are derived, and the gait planning and motion control algorithms of the robot are analyzed in detail. These analyses provide a theoretical basis for the robot's program and actual motion. In terms of hardware, a lightweight and high-performance hexapod robot hardware platform has been designed using mainstream controllers such as Borboardino and ultrasonic sensors. This hardware platform has excellent responsiveness and adaptability, and can efficiently move and operate in complex agricultural environments. In terms of software, a comprehensive control system has been developed, including motion planning, action execution, and obstacle avoidance modules. By integrating triangular gait technology and related algorithms, robot can achieve navigation and obstacle avoidance, and perform tasks such as crop planting and spraying in the agricultural field. The simulation file of the hexapod robot was established using CoppeliaSim software, achieving motion based on the robot body, six legs, and end effectors. Finally, a 3D-printer is used to print and assemble all components, and complete the design through debugging and verification. The hexapod robot is capable of autonomous cruising in farmland, completing tasks such as planting and watering crops, providing efficient and intelligent agricultural production solutions for farmers.

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