Design and Analysis of a 6 DoF Limb for a Walk And Roll Rover

Abstract

A typical joint design for any serial manipulator has many challenges. The design procedure is very critical since the survivability and usefulness of the robot has a direct dependence on the joint parameters. In this work, design procedure for a joint is taken through. Description of the procedure for torque computation, drive selection, encoder selection, bearing selection and design and analytical validation of the moving and fixed casing for meeting the objective specification. A plethora of hypothetical scenarios have been considered to simulate worst case torque and speed requirements for the joint. The designed parts have been optimised with deflection under gravity load as per the objective function.