Robot skeleton design aimed at agricultural environment

Abstract This article brings the constructive aspects of a robotic structure that has mechanical characteristics inspired by vertebrate animals present in the agricultural environment or in similar landscapes. It is built in aluminum and has a design that allows its locomotion in soils with different textures. Each of the four legs is treated, in principle, uniquely and independently to allow a spherical area for the reason of having 4 degrees of freedom. Each of its rotational joints allows 180° movement. The base is hexagonal to increase its contact area, balance its volume and allow it to float. The scope of this article starts from the formation of its bio-inspired structure and materials used and passes through direct and inverse kinematics, differential movements and speeds, static and dynamic analysis of forces that allowed us to conclude that, when it comes to terrains with heterogeneous textures, it is necessary expand the concept of agricultural robots to encompass their bio-inspired adaptability in animals living in agricultural cultivation areas and the like.