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HexCrawlerSimMechanics
Modeling of HexCrawler by using SimMechanics
i
PARALLAX HexCrawler Robot Kit
MATLAB SimMechanics
ii
Abstract
The research goal, mainly is constructing constructs hexrobots to
explore hexrobots the gait behavior patterns and the computer analog
modeling. The nature insect always can in rugged the uneven road surface
smooth migration, and has the formidable environment adaptiveness,
thereupon my human desire discussion imitation insect type structure
hexrobots organization by and its walk way, therefore we choose a group
to imitate the insect condition six full machines artificial this topic the
research main body.
The research study uses HexCrawler Robot Kit which PARALLAX
Corporation produces is the research subject, and uses in MATLAB
SimMechanics to construct constructs hexrobots the computer model, the
affiliation by such experimental study, discusses hexrobots the capacities,
also expected constructs the model which constructs future to be able to
perform to apply in hexrobots research.
iii
.................................................................................................................................i
........................................................................................................................ii
Abstract ........................................................................................................................ iii
.........................................................................................................................iv
...........................................................................................................................vi
........................................................................................................................ viii
..................................................................................................................1
1.1 ..............................................................................................1
1.2 ..............................................................................................2
1.3 ..........................................................................................................3
......................................................................................5
2.1 HexCrawler Robot ...........................................................................5
2.1.1 ...........................................................................................6
2.1.2 ...............................................................................................7
2.2 HexCrawler Robot ...........................................................................9
2.2.1 ..............................................................................................9
2.2.2 ....................................................................................11
3.1 SimMechanics........................................................................................13
3.2 ...........................................................................................14
3.2.1 ....................................................................................15
3.2.1 ........................................................................................17
3.3 ...............................................................................................19
3.3.1 ....................................................................................19
3.3.2 ....................................................................................22
iv
3.4 ...................................................................................................25
....................................................................................28
............................................................................................34
......................................................................................................................35
A M- ..........................................................................................36
B M- ..........................................................................40
v
2.1 HexCrawler .. 5
2.2 CAD .. 6
2.3 ...... 7
2.4 HS-322HD 7
2.5 . 8
2.6 . 8
2.7 . 9
2.8 . 9
2.9 10
2.10 . 11
2.11 ..... 11
2.12 ..... 12
3.1 MATLAB . 13
3.2 SimLink 14
3.3 .. 15
3.4 .. 16
3.5 .. 17
3.6 .... 18
3.7 .... 18
3.8 .... 20
3.9 .... 21
3.10 ()(). 22
3.11 . 23
3.12 .. 24
vi
3.13 .. 25
3.14 .. 26
3.15 .. 27
4.1 .... 28
4.2 .... 29
4.3 .... 29
4.4 .... 30
4.5 .... 30
4.6 .... 31
4.7 .... 32
4.8 .... 32
4.9 .... 33
4.10 ... 33
vii
2.1 HexCrawler Robot Kit . 5
3.1 ... 15
3.2 . 17
3.3 19
3.4 22
3.5 25
viii
1.1
AI AI
[Ref. 5]
1
1.2
HexCrawler SimMechanics
(1)
(2)
(3)
(4)
(5)
(6)
2
1.3
(robotics revolution)
[Ref. 6]
50%
R.A.Brooks
3
McMahon[Ref. 3]
Full,Blickhan Ting[Ref. 2]
Donner[Ref. 1] 80
SSAHexpod SSAHexpod
(gait)MIT
80 Genghis
4
2.1 HexCrawler Robot
MATLAB SimMechanics HexCrawler
PARALLAX
HexCrawler Robot Kit 2.1
2.1 HexCrawler Robot Kit
PARALLAX HexCrawler Robotics kit
Gauge 5052 Aluminum
( 2.69g/cm3)
19.56" 15.75" (49.68cm
40.00cm) leg to leg
282sq. 6(15.24cm)
4.86(12.34cm)
7.5lbs.(3.4kg) 4lbs.with servos.(1.81kg)
2(&) HS-322HD 12
Parallax Board of education (BOE)
Basic Stamp2 (BS2)
Parallax Servo Controller (PSC)
2.1 HexCrawler
5
2.1.1
2.2 CAD
2.2
2.3
Hip Jpint
Knee Joint
1
2 2.3
6
2.3
2.1.2
PARALLAX HexCrawler Robot
Kit
HexCrawler Robot Kit
19.56"
15.75" (49.68cm 40.00cm) 4lbs.with servos.(1.81kg) Parallax Servo
Controller (PSC) 2.4 HS-322HD
2.4 HS-322HD
7
2.5
2.5
2.6
8
2.2 HexCrawler Robot
2.2.1
[Ref.13]
McGhee
McGhee
1
2
3
4
5
6
2.7
1
2
3
4
5
6
2.8
9
1
2
3
4
5
6
2.9
2.9
t=0
145 1 2 1
145 1/21
d
236 1
236 1 2 1
d
145 1
145 1 2 1
d
2.10
10
2.10
2.2.2
Moment of inertia
2.11
2
121 mbIxx = 2
121 maIyy = ( )22
121 bamIzz +=
11
(1)
2.12
( 2.69g/cm3)
gm 716.620716.109915.105049.405 =++=
0 0 16022.749 0 00 0 0 66294.53785 00 0 0 0 82317.287
IxxI Iyy
Izz
2cmg = =
(2)
gm 206.58=
0 0 108.44 0 00 0 0 70.9346 00 0 0 0 38.513
IxxI Iyy
Izz
= =
2cmg
12
HexCrawler SimMechanics
MATLABMathWorks 1984
MATrix LABoratoryMATLAB
3.1 SimMechanics
3.1 MATLAB
MATLAB/ Simulink
(mathematical)(computation) (control)
(DSP)(Communication)
MATLAB/ Simulink SimMechanics
(Physical Modeling)(Physical System)
Simulink (System-Level)
SimMechanics
13
(Subsystem)
SimMechanics
Simulink SimMechanics
3.2 SimLink
3.2
SimMechanics
SimMechanics
SimMechanics
14
3.2.1
(1)
3.1
(2)
SimMechanics 3.3
3.3
15
(3)
3.4
3.4
3.4 (0,0,0)
620.716(g)[16022.749 , 0 , 0 ; 0 , 66294.53785 , 0 ; 0 , 0 ,
82317.287]
SimMechanics
3.5
16
3.5
3.2.1
(1)
3.2
1
17
(2)
3.6
3.6
3.7
90
3.7
18
135 246
3.3
3.3.1
(1)
3.3
4
MATLAB
19
(2)
3.8
3.8
SimMechanics 3.8
MATLAB
MATLAB M (gfm.m)
20
(InitSetup.m)
K_GROUND = 1000; //
C_GROUND = 0; //
MU_S = 0.4; //
MU_K = 0.2; //
LIMB_COND = [0 1 0 1 0 1]; //
P_PLANT = [0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0]; //
;
y = [FFootX FFootY FFootZ PFootZ LimbCond PX PY PZ];
(3)
3.9
21
3.10 ()()
3.3.2
(1)
3.4
4
22
MATLAB
(2)
3.11
23
3.12
3.12
24
3.4
(1)
3.5
SimLink
(2)
3.13
25
3.13 2
3.14
3.14 IC
MATLAB SimLink
3
3.14
2 3 0
26
3.15
27
MATLAB
4.1 4.2 4.3 4.4 SimMechanics
4.5 4.6
4.1
28
4.2
4.3
29
4.4
4.5
30
4.6
31
4.7
4.8
32
4.9
4.10
33
MATLAB SimMechanics
SimMechanics
SimMechanics
SimMechanics SimLink
34
[1] Donner,M.,Real Time Control of Walking, Brikaurser, Boston,1987.
[2] Full, R. J., Blickhan, R. and Ting, L. H.,Leg Design in Hexapodal
Runners,J. exp. Biol. 158,pp.369-390, 1991.
[3] McMahon, T. A.,Mechanics of Locomotion,the International Journal of
Robotics Research, Vol.3, No.2, summer1984.
[4] Kenneth S. Espenschied, Roger D. Quinn, Randall D. Beer, Hillel J. Chiel,
Biologically based distributed control and local reflexes improve rough
terrain locomotion in a hexapod robot, Elsevier of Robotics and Autonomous
Systems, 1996.
[5] NanJou Lin,Dynamics and Control of Open-and Closed-Chained Multibody
Systems,Ph.d. Dissertation, Case Weatern Reserve University, 1992.
[6] Raibert, M.H., Introduction: Legged Locomotion, the International Journal of
Robotics Research, Vol.3, No.2, summer 1984, pp.2-3.
[7]
10 4 2002 8 pp.392-396
[8] 273 pp.129~141
[9]
[10]
1993
[11]
[12]
2006
[13] 4+2
2001
35
A M -
function y = gfm(u)
% Force model of ground with friction
% LimbID
% Identification number of the limb.
LimbID = u(1);
% [PFootX, PFootY, PFootZ]
% Position of the foot in inertia frame.
PFootX = u(2);
PFootY = u(3);
PFootZ = u(4);
% [VFootX, VFootY, VFootZ]
% Velocity of the foot in inertia frame.
VFootX = u(5);
VFootY = u(6);
VFootZ = u(7);
% KGround
% Stiffness of the force model of the ground.
global K_GROUND;
KGround = K_GROUND;
% CGround
% Damping coefficient of the force model of the ground.
global C_GROUND;
36
CGround = C_GROUND;
% MuS
% Static friction coefficient.
global MU_S;
MuS = MU_S;
% MuK
% Kinetic friction coefficient.
global MU_K;
MuK = MU_K;
% LimbCond
% 1 designates the foot as being touching or penetrating the ground.
% 0 designates the foot as being released from the ground.
global LIMB_COND
LimbCond = LIMB_COND(LimbID);
Down = 1;
Up = 0;
% [PX, PY, PZ]
% Position of the plant of the foot in inertia frame, or the point of
% contact made by the foot when it first penetrated the ground.
% PZ is simply the ground z location.
global P_PLANT;
PX = P_PLANT(LimbID, 1);
PY = P_PLANT(LimbID, 2);
PZ = P_PLANT(LimbID, 3);
37
if PFootZ
PY = PFootY + sin(FFootHorAng) * SFriction / KGround;
P_PLANT(LimbID, 1) = PX;
P_PLANT(LimbID, 2) = PY;
end
else
FFootX = 0;
FFootY = 0;
FFootZ = 0;
end
y = [FFootX FFootY FFootZ PFootZ LimbCond PX PY PZ];
39
B M -
clear global K_GROUND;
global K_GROUND;
K_GROUND = 1000;
clear global C_GROUND;
global C_GROUND;
C_GROUND = 0;
clear global MU_S;
global MU_S;
MU_S = 0.4;
clear global MU_K;
global MU_K;
MU_K = 0.2;
clear global LIMB_COND;
global LIMB_COND;
LIMB_COND = [0 1 0 1 0 1];
clear global P_PLANT;
global P_PLANT;
P_PLANT = [0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0];
40
HexCrawlerSimMechanics().doc Modeling of HexCrawler by using SimMechanics.docHexCrawlerSimMechanics().doc Abstract 1.1 1.2 1.3 2.1 HexCrawler Robot 2.1.1 2.1.2 2.2 HexCrawler Robot 2.2.1 2.2.2 3.1 SimMechanics 3.2 3.2.1 3.2.1 3.3 3.3.1 3.3.2 3.4 A M- B M-