Development of an Insect-Inspired Hexapod Robot: Design, Construction, and Operational Insights

This paper explores the design, construction, and operation of a hexapod robot inspired by insect locomotion, capable of navigating diverse terrains and performing intricate maneuvers. The development process includes mechanical, electrical, and control systems. The robot’s body was modeled using Fusion 360 and 3D printed for cost-effectiveness and ease of modification, allowing rapid prototyping and iterative improvements. Custom PCBs designed with KiCAD reduce wiring complexity and ensure a compact form factor, enhancing the robot’s internal architecture and reliability. The electronics are managed by an Arduino Mega Pro MINI, selected for its compact size and adequate processing power. The robot is programmed using the Arduino IDE, with modified open-source code to meet project requirements, ensuring a robust control system for various tasks. Initial programming focuses on enabling free navigation, essential for basic movements and environmental response. Future enhancements include sophisticated programming for obstacle avoidance and self-adjustment on uneven terrain, increasing adaptability and functionality. The primary objective is reliable free navigation, with subsequent improvements targeting advanced obstacle avoidance and terrain adaptability. Future iterations aim to increase durability by transitioning to an aluminum chassis and optimizing servo housing. This approach not only improves strength but also performance in extreme conditions, demonstrating the potential of 3D printing and custom PCB design for rapid prototyping and optimization in robotics.