Simulation in MATLAB of a Vertical Walking Three-link Robot

摘要

This article focuses on the study, design and development of a vertical movement robot, whose task is moving along walls, adjacent planes and buildings. The real model of the robot should be presented in the Techno Park of the Bauman Moscow State Technical University. There was reviewed and proved the relevance of the studying, researching and development of vertical robots that perform a wide range of tasks in various fields. SimMechanics library and its elements were studied to build a model of the robot. Further, a computer model of a three-link vertical walking robot was developed in the MATLAB, generally showing the principle of operation of such robots. Later, on the basis of a given linear velocity of the center of mass of the vertical movement robot, the angular velocities of the hinges were determined. Equations were also compiled for calculating the required drive torques in order to verify the correctness of the calculation of the latter in the MATLAB. To implement the received moments and angular velocities, engines and gears were selected for rotating the links. A simulation of the motion of a vertically walking robot was carried out using the Simulink's SimMechanics library in the MATLAB.