An Efficient Dynamic Analysis Platform to Simulate theLocomotion of a Quadruped Robot
Publish place: The 7th International Conference on Electrical Engineering, Computer, Mechanics and Artificial Intelligence
Publish Year: 1403
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
EECMAI07_004
تاریخ نمایه سازی: 17 مرداد 1403
Abstract:
Quadrupeds have caught the interest of researchers in recent yearsbecause of their ability to be utilized in different areas such as rescuemissions, agriculture, and military activities. Yet, simulating quadrupedmovement is intricate and demands a thorough grasp of the robot'sdynamics and control. This article introduces a system for efficientlymodeling and simulating the movement of quadruped robots. In order tosimplify the process of modeling a complex multi-degrees-of-freedomsystem, it is suggested to use the direct communication features ofSolidWorks and MATLAB to develop the dynamic equations of motionfor the three-dimensional robot model being studied. The accuracy,flexibility, and visualization are the key benefits of the suggestedmodel. Because of the modular setup of the MATLAB toolboxes, it issimple to use different toolboxes to analyze the robot's stability, pathplanning, and control in different scenarios. Results from simulating thekinematics and dynamics of the suggested method using SolidWorks,Simulink, and MATLAB offer a useful tool for modeling a four-leggedrobot.
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Authors
Ali Selk Ghafari
Ph.D.Assistant Professor, Sharif University of Technology International Campus, Kish Island, Iran
Dorsa Ahmaddakeh
M.Sc. Students, Sharif University of Technology International Campus, Kish Island, Iran
Amirhosein Moghadami
M.Sc. Students, Sharif University of Technology International Campus, Kish Island, Iran
Amirali Akbar Khayyat
Ph.D.Assistant Professor, Sharif University of Technology International Campus, Kish Island, Iran