Dear all,
I'm a student and I want to get a hexabot for my thesis, which deals with the design of a hexabot with camera system and LiDar. Personally I teach the DH method, unfortunately as one can calculate simple mechanisms. Now it is a complex system 18DOF. I have a physical design in 3D CAD software (Inventor) now I would like to simulate a kinematic and dynamic system.
Is there any software option that would allow me to simulate the kinematics and dynamics, then generate the code? The software I wanted to use failed and I found a replacement software CoppeliaSim.
Thank you very much for your time
On a flat surface, if the Hexabot is modeled as a mass point or a rigid body, it can move in the x and y directions. So, it's a 2-DOF system.
m·x" + g(x, x', y, y') = Fx
m·y" + h(x, x', y, y') = Fy
I guess the extra DOF comes from the joints of the legged actuation.
Hello David,
The best way simulate a walking hexapod robot with lidar and camera is to learn ROS (Robot operating system). This will be useful to see your lidar data on rviz. Gazebo can be used for dynamic simulation. You can combine equation of motion of your hexapod robot in ROS. This will give you advantage of using ready ROS slam, navigation and artificial intelligence packages.
Best Wishes,
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