engleski

Co-simulation Approach in Stability Analysis of Hexapod Robot

The presented paper reviews the static and dynamic stability measures of hexapod robots with rectangular bodies. Static stability is analyses in different states of locomotion on a horizontal plane for different leg configurations, while dynamic stability include running mode. Here is applied co called co-simulation approach with the resulting mathematical models from kinematic and dynamic analysis used to create a version of the system mathematical model including a control algorithm (with PID controller) in the form of a block diagram. In the process of kinematic and dynamic estimation, data are exchanged between the virtual prototype and the system control software where MSC ADAMS solves the mechanic system equations, while MATLAB Simulink solves the control system equations. The ADAMS/Control interface connects software MSC ADAMS and Simulink toolbox within MATLAB. The numerical data obtained by connecting these two-software programs area used to analyse three statically stable walking (wave gait, the ripple gait and tripod gait) and dynamically running patterns of a hexapod robot. We further compared these walking patterns in the context of static system stability (SSM and LSM margins) and dynamics system stability WSP margins and established relations.

co-simulation approach, stability analysis, stability measures, hexapod robot

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