Design of a hexapod robot with a servo control and a man-machine interface

In this study a hexapod robot is used to explore its immediate environment. The man-machine interface program at the computer end is designed to detect the surroundings, plot simple topographic maps, and execute motion control by means of servos. The servomotor control interface designed and used in this study is based on a CPLD. The device, directly integrated with a single chip, can precisely generate the desired pulse width for PWM to control the robot servos. The control method used significantly reduces the workload on the MCU to allow it to better communicate with external devices. Most commercially available robots capable of making topographic maps and avoiding obstacles have wheels and they do not function well on surfaces that are not flat and even. This work may be continued and tests carried out on a range of different ground surfaces. The servomotor conversion device used here simplifies control and reduces the power needed by the single chip. This allows it to work with more external sensors and accomplish more communications tasks. Although this device uses ultrasonic and infrared sensors, a biaxial accelerometer and an electronic compass, it is desirable for more sensing functions to be incorporated in subsequent studies. The platform of the hexapod robot will also become a design reference for such devices in the engineering and the manufacturing fields and should provide useful options and applications for the commercialization of different industrial robots.

► This study uses a hexapod robot for environmental exploration. ► A man-machine interface is also designed for performing servo motion control. ► A servomotor control interface based on a CPLD is designed in this study. ► While the sensors employed in this study incorporates more sensing functions. ► This study provides the industrial robots with more options and useful applications.