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-