Propelling motion modeling of an Hexapod robot

Abstract

In this paper, we studied the motion of a hexapod robot taking into account its dynamics in Matlab’s SimMechanics. The software allows visualizing the moving system in Mechanics Explorers of Matlab with the possibility to measure many interesting physical terms. The kinematics and dynamics of the hexapod robot is well defined in the SimMechanics software as well as the functional schemes. We can thus connect them with the joints data elaborated from the kinematics modeling. This a powerful tool to have a deeper view in the dynamic behavior of the propelling motion of the hexapod robot. Therefore, we have been particularly interested in joint torques in response to specific propelling motion. This task was well established and validated by simulation. So, we can use all this information in the control process of the robot, a task that was too complex with the analytical approach.