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Title
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Innovative design of a hexapod scorpion through digital production techniques
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Author
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Abstract
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| This paper describes the innovative design process and production of a novel scorpion-based hexapod robot. The robotic scorpion was designed to be as reproducible, modular and adaptable as possible, being produced strictly using digital production techniques and off-the-shelf parts. These production techniques ensure that the robot and all its components become easy to reproduce and adapt, making it possible for everybody to build their own hexapod robot or optimize the robot in future work. In addition to our digital production, some innovative, anatomy-based features were integrated in the robot to solve several problems related to other hexapods. The use of elastics in the legs, for example, solves the high energy consumption of the motors and gravitational separation caused by the heavy weight of the hexapod. Furthermore, the scorpion tail is actuated by one single servomotor, simulating antagonistic muscles with ropes. By integrating these nature-inspired solutions, in combination with digitally produced parts, we improve the performance of a previously designed hexapod. |
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Language
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English
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Source (journal)
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ADVANCES IN COOPERATIVE ROBOTICS
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Source (book)
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19th International Conference series on Climbing and Walking Robots and, the Support Technologies for Mobile Machines (CLAWAR), SEP 12-14, 2016, London, ENGLAND
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Publication
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Singapore
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World scientific publ co pte ltd
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2017
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ISBN
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978-981-314-912-0
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Volume/pages
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(2017)
, p. 269-277
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ISI
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000386326300033
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