A Novel Leg Design for the Szabad(ka) III Robot

Abstract

The aim of this paper is to introduce a novel robot leg design which will be used in the next generation of the Szabad(ka) robots, the Szabad(ka) III hexapod robot. This new prototype has significant improvements compared to the previous leg used in the Szabad(ka) II robot. The design is based on a differential gear drive system. Most of the parts were created using modern 3D printing technology. A triple spring-damper system has further improved the functionality of the leg. A new, self-designed motor driver ensures appropriate control and sensor sampling at the expected frequencies. The next step of the research will be to carry out the structural optimization of the robot based on the new leg design. The optimization will determine the connection positions and the dimensions of the body and legs as well as the parameters of the triple spring damper system.