Sinergi
Vol 22, No 2 (2018)

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

Luo Qingsheng (Mechatronical Engineering, School of Mechatronical Engineering, Beijing Institute of Technology)
Julpri Andika (Department of Electrical Engineering, Faculty of Engineering, Universitas Mercu Buana)

Article Info

Publish Date
27 Jun 2018

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.

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Journal Info
Sinergi
Website

Abbrev

sinergi

Publisher

Universitas Mercu Buana

Subject

Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

Description

SINERGI is a peer-reviewed international journal published three times a year in February, June, and October. The journal is published by Faculty of Engineering, Universitas Mercu Buana. Each publication contains articles comprising high quality theoretical and empirical original research papers, ...