This project is focused on designing and controlling a single leg of what will be an inline hexapod robot. The mechanics consist of two NEMA 17 stepper motors, a 100mm linear actuator with a variable resistor serving as an encoder, two limit switches, and an Arduino Mega 2560 for control.
The academic short term objective for this project is to teach myself Solidworks, C++, inverse kinematics, and control theory. So far, I have learned a great deal from this project; in addition to the skills listed above, I have learned to render and animate within the Solidworks Visualize platform, and had a great deal of iterative design. This version of the design serves to stand as a test bed for me to learn the skills necessary to control a basic robot such that I can bring them into a full build of the robot down the line.
The long term objective of this project is to build and test a six legged, inline hexapod for use in hydroponics facilities for crop maintenance and harvesting.
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