Spiral Method for Experimental Design of Mechanisms for Zoomorphic Robot in CAD Software

Abstract

This document developed the experimental design process of the mechanisms for a zoomorphic robot in CAD software, with three degrees of freedom on each limb. The mechanisms, subjected to a virtual simulation environment, tested for resistance, kinematics, and dynamics. The realization of the project was based on a spiral methodology. As the main results, the best material to build the robot structure was iron ductile, and the displacement speed three cm/s. Finally, the authors conclude that a spiral methodology and CAD software is an effective method to design zoomorphic robots.