Flexible multibody dynamic modeling and simulation of rhex hexapod robot with half circular compliant legs

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Date

2008

Author

Oral, Gökhan

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The focus of interest in this study is the RHex robot, which is a hexapod robot that is capable of locomotion over rugged, fractured terrain through statically and dynamically stable gaits while stability of locomotion is preserved. RHex is primarily a research platform that is based on over five years of previous research. The purpose of the study is to build a virtual prototype of RHex robot in order to simulate different behavior without manufacturing expensive prototypes. The virtual prototype is modeled in MSC ADAMS software which is a very useful program to simulate flexible multibody dynamical systems. The flexible half circular legs are modeled in a finite element program (MSC NASTRAN) and are embedded in the main model. Finally a closed loop control mechanism is built in MATLAB to be able to simulate real autonomous RHex robot. The interaction of MATLAB and MSC ADAMS softwares is studied.

Subject Keywords

Mechanical engineering.

URI

http://etd.lib.metu.edu.tr/upload/12610137/index.pdf
https://hdl.handle.net/11511/18043

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

G. Oral, “Flexible multibody dynamic modeling and simulation of rhex hexapod robot with half circular compliant legs,” M.S. - Master of Science, Middle East Technical University, 2008.