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.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12610137/index.pdf |
| Date | 01 November 2008 |
| Creators | Oral, Gokhan |
| Contributors | Yazicioglu, Yigit |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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