Mechatronics Development of Hexapod Robot Controlled by Bioinspired Locomotion Steps for Farmlands Visual Exploration

This work shows the development of a hexapod robot whose purpose is to capture visual information in farmlands. The robot was designed based on a study of the physiognomic characteristics of hexapod robots, thus a mechanical structure of eighteen degrees of freedom was proposed to govern the robot's movements. Sequences were created for the coordinated movement of the robot, so that it can move forwards, backward, rotate clockwise, or counterclockwise. An electronic system for the operation of the robot was also designed, consisting of three electronic boards; the first oriented to control, the second dedicated to providing constant energy to the robot, and the third to fulfill the interface function between the first two boards and the nineteen servomotors contained in the robot. Then, this work exposes the graphic user interface used as a link between a human operator and a robot. Below are the results obtained during the robot movement tests on smooth ground, ground with the presence of grass, partially arid ground, and arid ground. Finally, the conclusions derived from the experiments are exposed, the main one being that the robot works satisfactorily because it fulfills the function of exploring, and capturing visual information, in farmlands.