This project, entitled "Development of a hexapod robot", consists of the complete development of the design and construction of an arthropod mobile robot. To develop the prototype, it has been inspired by a formícido called "Messor SP".

In order to carry out this design, a previous study of biomimetism has been carried out. Subsequently through the analysis of kinematic equations (with trigonometry and matrices of Denavit-Hatenberg). Once the simulation of the movements has been obtained, the mechanical modeling has been developed and then its manufacture.

Este proyecto se lo he dedicado a las personas que siempre han confiado en mi, en especial a mi madre y mi padre, el cual pudo ver como evolucionaba hasta sus últimos días.

team 1

Figure 1: Author with the robot.


A study of mimicry of a European formícido called "Messor Sp" has been developed. This study allows us to analyze the joints and the way the insect walks.

Figure 2: "Messor Sp".


The kinematics study contemplate the equations of movement of the robot, allowing the control of the same and the way of walking on uneven terrain.

Figure 2: References of angles.


Figure 3: Simulation of kinematics using MatLab.

3D Design

The design of the robot has been made with the mechanical design software SolidWorks. In order to be able to do this, each piece has been designed and afterwards, an assembly of said pieces has been made.

Figure 4: 3D model of the robot.


The machining of parts has been done manually using cutting and drilling systems by chip removal.

Figure 5: Images of the construction process.


The electronic design is based on an "Arduino Mega" platform. The Arduino manages the movement of the servo motors, processes the commands it receives from the XBee module to determine the action to be taken, manages the battery level and GPS coordinates.

Figure 6: Main Board.

Figure 7: Electrical schematic of the robot.

Control Program

The control program is developed in C #. This program allows us to control the robot, monitor the geolocation, visualize images coming from the robot, among other actions.

Figure 8: Control program interface.


Figure 9: Flow diagram of the operation of the control program.