Lecture 40 : NATARAJ – a case study of a 6-legged robot
Foot work volume
Work volume of leg tip
Material Selection
The following materials were considered for leg mechanism of Nataraj. The results of the tests performed are shown in the Table below:
S/N
Material
Density
Kg/m 3
Youngs Modulus
GPa
UTS
MPa
1.
Al alloy (IS 24345)
2700
80
475
2.
Al alloy (IS 63400)
2700
80
200
3.
Titanium (BARC sample)
4500
129
415
4.
Ti alloy (Midhani grade 5)
4500
129
900
Finally the more easily available aluminum alloy (IS 63400) was chosen due to availability in standard sections, unlike titanium alloy, available only in the sheet form.
