Design and Development of a Force-Regulated Hexapod Leg

Abstract: In this thesis a concept for a new leg construction, for a force regulated Stewart Platform called Hexapod, was created. The design process for this concept was split into three major parts: the actuator, joints, and the frameless motor, which make up the dynamic elements, the legs, that move the Hexapod. The design of these three parts was approached in a similar fashion, through four phases. The research phase, a planning, which included establishing requirements, estimates and assumptions, performing calculations and comparing and choosing components. The implementation phase, where through sketches and 3D software, the chosen components were employed and interfaces, which connect and mount them, were created. The verification phase, which often occurred parallel to the previous phase, revolved around analysis of the applied components and their constructed links, upon which further iterations of the implantation phase followed. Finally, the review phase, a stage in the project where through peer examination the design iterations were assessed, and necessary changes proposed. Once all three parts had gone through several iterations of these phases and a satisfactory result was achieved, they were then put together creating the concept of the Hexapod leg. It was then compared against the initial scope of the project creating guidelines for future developments and testing of alternative solutions.