Abstract.

Ants are extraordinary six-legged insects capable of carrying loads significantly heavier than their body weight, which lends inspiration to robotic designs. This paper presents a novel parallel kinematic structure engineered for a six-legged ant robot, characterized by its lightweight and semiautonomous features made possible through wireless modules. The mechanical structure is meticulously designed and optimized using Solidworks, enabling the robot to be actuated by merely two DC motors that control all six legs, making the design mechanically efficient. The integration of a microcontroller as the primary control unit allows for effective programming and control, facilitated by utilizing LabVIEW for the transmitter program, Proteus Professional for electronic board testing, and Altium Designer for PCB implementation. This innovative robot design aims to be applicable in the domains of social and rescue robotics, showcasing the utility of lightweight, stable legged robots that maintain high performance with minimal actuation components. The results demonstrate the feasibility and effectiveness of the proposed design in practical applications, paving the way for enhanced development in robotic locomotion inspired by biological systems.