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Design and Development of a Force-Regulated Hexapod Leg

Langer, Adam LU (2022) MMKM10 20221
Innovation
Abstract
In this thesis a concept for a new leg construction, for a force regulated Stewart Platform called Hexapod, was created. The design process for this concept was split into three major parts: the actuator, joints, and the frameless motor, which make up the dynamic elements, the legs, that move the Hexapod.
The design of these three parts was approached in a similar fashion, through four phases.
The research phase, a planning, which included establishing requirements, estimates and assumptions, performing calculations and comparing and choosing components.
The implementation phase, where through sketches and 3D software, the chosen components were employed and interfaces, which connect and mount them, were created.
The verification... (More)
In this thesis a concept for a new leg construction, for a force regulated Stewart Platform called Hexapod, was created. The design process for this concept was split into three major parts: the actuator, joints, and the frameless motor, which make up the dynamic elements, the legs, that move the Hexapod.
The design of these three parts was approached in a similar fashion, through four phases.
The research phase, a planning, which included establishing requirements, estimates and assumptions, performing calculations and comparing and choosing components.
The implementation phase, where through sketches and 3D software, the chosen components were employed and interfaces, which connect and mount them, were created.
The verification phase, which often occurred parallel to the previous phase, revolved around analysis of the applied components and their constructed links, upon which further iterations of the implantation phase followed.
Finally, the review phase, a stage in the project where through peer examination the design iterations were assessed, and necessary changes proposed.
Once all three parts had gone through several iterations of these phases and a satisfactory result was achieved, they were then put together creating the concept of the Hexapod leg. It was then compared against the initial scope of the project creating guidelines for future developments and testing of alternative solutions. (Less)
Popular Abstract
In this thesis, a Parallel Kinematic Machine called Hexapod with Force Regulatory
features has been developed. The purpose is to minimize cost while increasing effectiveness
and sustainability of the assembly line. A hardware concept of the robot is being developed
to explore novel applications in the production industry.
Please use this url to cite or link to this publication:
author
Langer, Adam LU
supervisor
organization
course
MMKM10 20221
year
type
H2 - Master's Degree (Two Years)
subject
keywords
Stewart, Platform, Stewart Platform, Hexapod, Parallel, Kinematic, Machine, Parallel Kinematic Machine, PKM, Design, Cognibotics
language
English
id
9099492
date added to LUP
2022-09-08 08:45:30
date last changed
2022-09-08 08:45:30
@misc{9099492,
  abstract     = {{In this thesis a concept for a new leg construction, for a force regulated Stewart Platform called Hexapod, was created. The design process for this concept was split into three major parts: the actuator, joints, and the frameless motor, which make up the dynamic elements, the legs, that move the Hexapod. 
The design of these three parts was approached in a similar fashion, through four phases. 
The research phase, a planning, which included establishing requirements, estimates and assumptions, performing calculations and comparing and choosing components.
The implementation phase, where through sketches and 3D software, the chosen components were employed and interfaces, which connect and mount them, were created.
The verification phase, which often occurred parallel to the previous phase, revolved around analysis of the applied components and their constructed links, upon which further iterations of the implantation phase followed. 
Finally, the review phase, a stage in the project where through peer examination the design iterations were assessed, and necessary changes proposed.
Once all three parts had gone through several iterations of these phases and a satisfactory result was achieved, they were then put together creating the concept of the Hexapod leg. It was then compared against the initial scope of the project creating guidelines for future developments and testing of alternative solutions.}},
  author       = {{Langer, Adam}},
  language     = {{eng}},
  note         = {{Student Paper}},
  title        = {{Design and Development of a Force-Regulated Hexapod Leg}},
  year         = {{2022}},
}