DYNAMIC MODELING AND CONTROL OF THE HEXAPOD ROBOT USING MATLAB SIMMECHANICS

被引：0
|
作者：
Beaber, Sameh I. [1 ]
Zaghloul, Abdelrahman S. [2 ]
Kamel, Mohamed A. [3 ]
Hussein, Wessam M. [1 ]
机构：
[1] Mil Tech Coll, Dept Mechatron Engn, Cairo 11766, Egypt
[2] McMaster Univ, Dept Mech Engn, Hamilton, ON L8S 4L7, Canada
[3] Mil Tech Coll, Dept Mech Engn, Cairo 11766, Egypt
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2018, VOL 4A | 2019年
关键词：
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a detailed dynamic modeling of phantom ax12 six-legged robot using Matlab SimMechanics (TM). The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot. Trajectory of each leg is also considered for both swing and support phases when the robot walks with tripod gait in a straight path. Newton-Euler formulation has been utilized to determine the joint's torque. These results were verified using SimMechanicsTM. Also, feet force distributions of the hexpaod are estimated via SimMechanicsTM, which is necessary for its control.
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页数：9
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