SIMULATION MODEL OF THE CONTROL SYSTEM OF A DYNAMIC MOBILITY PLATFORM BASED ON A HEXAPODE FOR TRAINING COMPLEXES
https://doi.org/10.26583/vestnik.2022.7
Abstract
Mobile platforms based on hexapods are widespread and are used in various fields: dynamic simulators, robot manipulators, orientation systems. When designing such systems, computer modeling is used and an important issue is the creation of a simulation model of the hexapod control system and the assessment of the resulting positioning errors. The article presents a simulation model of a hexapod robot developed in the SolidWorks computer–aided design system. A mathematical description of the hexapod model, a robot diagram in the MATLAB program, as well as an algorithm for extracting errors between the given and received coordinates and angles of the center of the platform are presented. Diagrams of the change in the position of the center of the platform, the positioning errors of the rods and the efforts applied to each rod over a certain period of time to measure the positioning accuracy of the hexapod are shown.
Supporting agencies: Belgorod State Technological University named after V.G. Shukhov
About the Authors
L. A. Rybak
Belgorod State Technological University named after V.G. Shukhov,
Russian Federation
Russian Federation
D. I. Malyshev
Belgorod State Technological University named after V.G. Shukhov,
Russian Federation
Russian Federation
E. V. Gaponenko
Belgorod State Technological University named after V.G. Shukhov,
Russian Federation
Russian Federation
V. S. Perevuznik
Belgorod State Technological University named after V.G. Shukhov,
Russian Federation
Russian Federation
A. A. Voloshkin
Belgorod State Technological University named after V.G. Shukhov,
Russian Federation
Russian Federation
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Review
For citations:
Rybak L.A., Malyshev D.I., Gaponenko E.V., Perevuznik V.S., Voloshkin A.A. SIMULATION MODEL OF THE CONTROL SYSTEM OF A DYNAMIC MOBILITY PLATFORM BASED ON A HEXAPODE FOR TRAINING COMPLEXES. Vestnik natsional'nogo issledovatel'skogo yadernogo universiteta "MIFI". 2022;11(5):358-365. (In Russ.) https://doi.org/10.26583/vestnik.2022.7
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