Construção de robô hexápode com código de programação implementado em FPGA

Abstract

The application of robots to perform functions safely in risky and difficult to access places is becoming more and more common, where stability is required to execute the movement. This research aimed to build a hexapod robot biologically inspired by ants, with two degrees of freedom in each paw, and control through a computer and a reprogrammable logic device. The programming code language was written in SystemVerilog, hardware description and verification language, and implemented on the DE2-115 board, whose FPGA device is the Cyclone IV EP4CE115F29C7N. The reconfigurable logic capability technology provided by the FPGA enables the synchronization of servomotors due to the flexibility of executing commands in parallel, in addition to having a quick reprogramming while the system is online. A total of twelve servomotors were used as actuators, model MG996R, all powered by a SATE PRO-460 source (on the 5V line), isolated from the rest of the board. The parts that make up the physical structure of the robot were modeled using SolidWorks software and printed on a 3D printer in order to reduce costs and facilitate reproduction in order to allow the project to be used in teaching and research activities. The programming language proved to be effective and highly adaptable to other possible projects, according to the modules developed individually to control movements.