Computer aided modeling and analysis of turning motion of hexapod robot on varying terrains
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Computer aided modeling and analysis of turning motion of hexapod robot on varying terrains Abhijit Mahapatra . Shibendu Shekhar Roy . Dilip Kumar Pratihar
Received: 17 February 2015 / Accepted: 20 June 2015 / Published online: 4 July 2015 Ó Springer Science+Business Media Dordrecht 2015
Abstract To successfully design a hexapod robot with maneuverability over varying terrains, the kinematic and dynamic analyses for its motion are very essential. This paper proposes an integrated approach for carrying out design, analysis and simulation of the motions and mechanisms of hexapod robots generating turning gaits. A new path planning approach is proposed for the turning motion analysis of the robot walking over any kind of terrain varying from flat to rough in three-dimensional Cartesian space with the desired gait pattern. The kinematics model of the hexapod robot having legs of three degrees of freedom each is developed to simulate turning motion, and its
performance is tested on a realistic computer aided design model using the available virtual prototyping tools. The model is capable of investigating various kinematic parameters of the hexapod robot like displacement, velocity, acceleration, trace of the position of aggregate center of mass during turning motions. A case study is solved and the theoretically obtained results are verified by simulating the same in a commercially available numerical solver for multibody dynamic analysis like MSC.ADAMSÒ. The results show a close agreement between the theoretical and simulated results, which proves the efficacy of the proposed algorithm. Keywords Hexapod robot Kinematics Varying terrains Turning motion Analytical approach
A. Mahapatra Virtual Prototyping and Immersive Visualization Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India e-mail: [email protected] A. Mahapatra S. S. Roy Department of Mechanical Engineering, National Institute of Technology, Durgapur 713209, India e-mail: [email protected] D. K. Pratihar (&) Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur 721302, India e-mail: [email protected]
Abbreviations ADAMS Automated Dynamic Analysis of Mechanical Systems CAD Computer Aided Design CAE Computer Aided Engineering CATIA V5 Computer Aided Three Dimensional Interactive Application Version 5 COM Center of mass DF Duty factor DH Denavit–Hartenberg DOF Degrees of freedom 3D Three-dimensional VP Virtual Prototyping
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1 Introduction Over the past decade, the field of all terrain robots has emerged as one of the most interesting and provoking grounds to researchers worldwide due to its wide choices of consideration, whether it is legged or wheeled or tracked vehicles or hybrid vehicles for locomotion. Today with the advancement of technology, researchers have an urge to design and develop robotic vehicles that can maneuver and perform tasks like natural beings having legs (Tian et al. 2014; Tedeschi and Carbone 2014; Khoramshahi et al. 2013; Roennau et al. 2013;
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