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Advisor(s)
Abstract(s)
A grande maioria de robôs móveis terrestres usam as rodas como mecanismo de locomoção. E evidente sua vantagem, quanto ao menor consumo de energia, frente aos sistemas multi-pernas. Porém os robôs com pernas conseguem inserir-se em ambientes aos quais os robôs com rodas são simplesmente incapazes de
locomoverem-se, como ´e o caso de obstáculos de grandes dimensões, terreno solto ou encostas íngremes.
Embora os robôs multi-pernas estejam ainda concentrados no campo da investigação, montá-los e executar uma determinada sequência de testes pode ser algo lento e dispendioso, pois o ambiente de simulação possui uma baixa relação custo/benefício, quando relacionado à construção do protótipo.
Deste modo se o projeto de tais robôs for feito em um ambiente de simulação questões como qualidade e/ou limites de operação dos componentes do sistema podem ser desprezados sendo mantido apenas as características consideradas importantes para a análise. A simulação permite tanto viabilizar a pesquisa quanto reproduzir modelos que se aproximem dos valores ideais, embora nada possa ser comparado a experimentos reais, onde o robô de fato opera.
O objetivo deste trabalho consiste em desenvolver a modelagem de robôs hexápodes e simulá-los em um ambiente virtual de sistemas mecânicos, que viabiliza a análise de desempenho de diversos critérios do modelo, bem como averiguar a trajetória virtual construída pelo robô.
The great majority of terrestrial mobile robots uses the wheels as locomotion mechanism. It is obvious their advantage, as to lower energy consumption compared to multi-legs. However, the robots with legs can insert themselves in environments for which the robots with wheels are simply incapable of be inserted, as is the case of obstacles of large dimensions, terrain loose or steep slopes. Although the robots multi-legs are still concentrated in the field of research, assemble them and perform a particular sequence of tests can be something slow and costly, because the simulation environment has a low cost/benefit ratio, when related to the construction of the prototype. In this way if the project of such robots will be made in a simulation environment questions as quality and/or limits of operation of the components of the system can be rejected being kept only the characteristics considered important for the analysis. The simulation allows both facilitate research as play models that approximate the ideal values, although nothing can be compared to real experiments, where the fact of robot operates. The objective of this work is to develop the modeling of robots hexapods and simulate them in a virtual environment of mechanical systems, which makes possible performance analysis of several model criteria and determine the virtual path built by the robot.
The great majority of terrestrial mobile robots uses the wheels as locomotion mechanism. It is obvious their advantage, as to lower energy consumption compared to multi-legs. However, the robots with legs can insert themselves in environments for which the robots with wheels are simply incapable of be inserted, as is the case of obstacles of large dimensions, terrain loose or steep slopes. Although the robots multi-legs are still concentrated in the field of research, assemble them and perform a particular sequence of tests can be something slow and costly, because the simulation environment has a low cost/benefit ratio, when related to the construction of the prototype. In this way if the project of such robots will be made in a simulation environment questions as quality and/or limits of operation of the components of the system can be rejected being kept only the characteristics considered important for the analysis. The simulation allows both facilitate research as play models that approximate the ideal values, although nothing can be compared to real experiments, where the fact of robot operates. The objective of this work is to develop the modeling of robots hexapods and simulate them in a virtual environment of mechanical systems, which makes possible performance analysis of several model criteria and determine the virtual path built by the robot.
Description
Keywords
Robôs com pernas Hexápodes SimMechanics Modelação Simulação Locomoção Legged robots Hexapods SimMechanics Modeling Simulation Locomotion