Dr. Mohamed Kamel Profile

Dr. Mohamed Kamel

at Military Technical College

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Proceedings Article | 12 April 2021 Presentation + Paper

Dynamic modeling and real-time evaluation of reaction forces and torques of hexapod robot

Sameh Beaber, Abdelrahman Zaghloul, Mohamed Kamel, Wessam Hussein

Proceedings Volume 11758, 1175808 (2021) https://doi.org/10.1117/12.2596113

KEYWORDS: Motion models, Kinematics, MATLAB, Gait analysis, Computer simulations

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This paper presents a dynamic modeling and experimental evaluation of reaction forces and joints torque of a hexapod robot walking in a straight line with a tripod gate. First, the kinematic model of the robot was considered by solving the forward and the inverse kinematics of each leg. Based on tripod walking gait and motion in a straight-line path, the trajectory of each leg is generated for support and transfer phase. Second, a complete dynamic model is presented to estimate the feet force reaction, and the torque of each joint. The foot interaction with the ground modeled depend on a compliant model, and a force distribution method is performed to find the required friction forces. This can minimize energy consumption and slippage possibility. Then, with the aid of using Matlab SimMechanics, a straight-line motion with tripod gate is simulated, and feet forces distribution and joints torques are calculated. Finally, real-time torque of each joint and normal force of each leg tip is measured, assuming at least three legs always remain in contact with the ground (which called support phase), and the other three are in swing phase, which offers two options for torque and force measurements.

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