ADAMS仿真实例

A Report Submitted in Partial Fulfillment of the

Requirements for SYDE 461

Contents

Contents ii Table of Figures iv 1Project Summary 1

1.1 Problem statement (1)

1.2 Phase 1 goals (2)

2Design Process 4 3Results Achieved 8

3.1 PCB modifications (8)

3.2 Mechanical issues resolved (9)

Limit switches (10)

Hip motor encoders (11)

3.3 Gait research (12)

3.4 ADAMS simulation (13)

3.5 Communication testing (15)

4Future Plans 17

5Tentative Schedule 19 Appendix A C3 Meeting Minutes 22 C3 meeting #1 (22)

C3 meeting #2 (25)

C3 meeting #3 (29)

Table of Figures

Figure 1: Black-Box System (4)

Figure 2: Detailed System Diagram (5)

Figure 3: Limit Switch Placement (10)

Figure 4: Hip motor encoder (11)

Figure 5: ADAMS model of Hexplorer (14)

1Project Summary

Hexplorer is an evolutionary project intended to research and develop a small, six-legged, autonomous walking robot. The project encompasses all design areas required to make a robot move, including Printed Circuit Board (PCB) design, mechanical design and walking algorithms. Since its initial conception in 1996, the Hexplorer project has seen much change and several improvements.

The present Hexplorer configuration is composed of a circular body with six legs mounted equidistant from each other around the circumference of the body. Each leg has three degrees of freedom and therefore requires three separate DC motors to articulate i ts motion. Each leg has its own “leg” PCB with an integrated DSP that controls the leg‟s three motors. The overall motion of the robot is achieved using a single “brain” board, also with an integrated DSP, responsible for sending commands to each of the individual leg boards.

1.1Problem statement

As of September 2002, Hexplorer was incapable of autonomous motion. Only two of the six legs were functional, and furthermore, the legs movements were completely controlled by the leg boards rather than being

directed by the brain board and actuated by the leg boards. Since improvements had recently been made to many of Hexplorer‟s subsystems including a complete re-design of the legs and the integration of new DSPs on all the circuit boards, it was decided that only minor changes would be needed to be made to get the robot to walk. Thus, the problem facing this year‟s design group was to fix any and all mechanical and software problems with Hexplorer, which would allow the robot to walk.

The problem statement for this project is as follows:

To better understand the intricacies involved in a locomotion machine, and to experiment with sophisticated GAIT algorithms, the Hexplorer 2002 team will remedy any problems with the existing robot, to allow it to autonomously navigate an even surface.

1.2Phase 1 goals

It was decided to have all mechanical and circuit board issues with the robot resolved by December 2002. This would leave the team to implement and design advanced walking algorithms for the robot during the following term.

After careful investigation it was shown that to advance Hexplorer to a level where it could be used as a gait-testing platform would require three major tasks.