ANALYSIS OF KINEMATIC FOR LEGS OF A HEXAPOD  USING DENAVIT-HARTENBERG CONVENTION

Luo Qingsheng; Julpri Andika

doi:10.22441/sinergi.2018.2.001

Authors

Luo Qingsheng Mechatronical Engineering, School of Mechatronical Engineering, Beijing Institute of Technology, China
Julpri Andika Department of Electrical Engineering, Faculty of Engineering, Universitas Mercu Buana, Indonesia http://orcid.org/0000-0002-0272-3865

DOI:

https://doi.org/10.22441/sinergi.2018.2.001

Keywords:

Manipulator robots, Hexapod, Denavit-Hartenberg, Kinematic

Abstract

The headway of manipulator robots makes the development of a hexapod quite fast. Unfortunately, a hexapod is unstable to moving in a regular movement with some values added to programming algorithms. Various techniques implemented yet to the algorithms, like entering the degree values of each servo. However, to simplify the implementation of the algorithms, need some equations. This paper offered a hexapod control system based on Arduino that using Denavit-Hartenberg parameters to produce the equations. Various experiments have performed. Based on the experiments the offered system able to simplify the programming algorithms.