The direct proportionality that exists between the joint actuator rated torque of conventional hexapod robots and the payload mass makes them unsuitable for applications that require energy efficiency. In this paper, we propose a novel hexapod robot design which involves the incorporation of a rotary encoder-embedded weight-bearing wheel to relax the stringent limitations on the choice of the robot’s joint actuator torques and the battery capacity. The results of the prototype implementation showed that our design inherits the merits of easy linear distance measurement via the embedded rotary encoder, low actuator torque and high payload capability from wheeled robots.
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