Pregled bibliografske jedinice broj: 1049419
Co-simulation Approach in Stability Analysis of Hexapod Robot
Co-simulation Approach in Stability Analysis of Hexapod Robot // Book of Abstracts - COSIM 2021 International Symposium on Co-Simulation and Solver Coupling in Dynamics / Francisco J. González, Javier Cuadrado (ur.).
Ferrol: Laboratorio de Ingeniería Mecánica (LIM), University of A Coruña – Ferrol, Spain, 2021. str. 19-20 (predavanje, međunarodna recenzija, prošireni sažetak, znanstveni)
CROSBI ID: 1049419 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Co-simulation Approach in Stability Analysis of
Hexapod Robot
Autori
Osman, Krešimir
Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, prošireni sažetak, znanstveni
Izvornik
Book of Abstracts - COSIM 2021 International Symposium on Co-Simulation and Solver Coupling in Dynamics
/ Francisco J. González, Javier Cuadrado - Ferrol : Laboratorio de Ingeniería Mecánica (LIM), University of A Coruña – Ferrol, Spain, 2021, 19-20
Skup
International Symposium on Co-Simulation and Solver Coupling in Dynamics (COSIM 2021)
Mjesto i datum
Ferrol, Španjolska, 24.05.2021. - 25.05.2021
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
co-simulation approach, stability analysis, stability measures, hexapod robot
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Strojarstvo, Temeljne tehničke znanosti
