As a team of two or three students, develop a detailed design for a single hexapod limb, the foot design will be one of the four static feet. The bespoke components comprising the design should be optimised for strength and stiffness for the loads i.e. it should be as light as possible whilst fulfilling the PDS in terms of the functional requirement. Your bespoke designed components will need to interface with any off-the-shelf (OTS) parts (e.g. motors or servos). These OTS parts will need to be specified according to the requirements as provided by the development engineers who have undertaken extensive measurements on the operation of a proof-of-concept moon exploration Hexapod. These requirements have been rationalised for each of the hexapod’s four passive limbs and are detailed as below:
Each leg must articulate through the range of movement shown below whilst being able to maintain a vertical foot force of 52N. Under this load in any position the additional vertical deflection due to elastic strain (assume zero backlash for the joints) should not exceed 1mm.
The limbs (at full lateral extension of 100mm) must also be able to impose/react a load of 28N perpendicular to the limb in the horizontal plane throughout the 30 degree range of movement. Under the 28N load the additional deflection (measured at the end of the limb) due to elastic strain (again ignoring any backlash in the joints of the limb) should not exceed 0.5mm.