Kinematic study of modified Jansen linkage for development of a hexapod robot

Nowadays, the main challenge face by the wheeled robot is regarding its operation on the sloppy, muddy or sandy terrain and to solve this kind of challenges legged mechanism is designed. One such mechanism is developed by Jansen, having eleven binary linkages. In this study, the type and dimension of the Jansen linkage is modified to generate the required foot trajectory i.e. optimized step height and stride length. After the desire foot trajectory is obtained, static structural analysis is conduct on Modified Jansen Linkage (MJL). The analysis is conducted using Acrylonitrile Butadiene Styrene (ABS), a 3D printing material. Based on the selected linkage, a hexapod robot is designed, followed by static structural analysis. All the results show that the hexapod robot is safe to develop and can withstand the expected load.