Dynamic simulation of water strider robot based on ADAMS and MATLAB

Author

Tiehong Gao ; Lan Wang ; Chong He ; Jianming Sun

Author_Institution

Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China

fYear

2012

fDate

18-20 Oct. 2012

Firstpage

868

Lastpage

871

Abstract

Co-simulation based on ADAMS and MATLAB software is introduced in this paper to study dynamic characters of one kind of water strider robot. Control model, composed of DC servo motor model and hydrodynamic model, is built in MATLAB/Simulink software. Combined with mechanical model built in ADAMS software, electro-mechanical co-simulation model of whole water strider robot system is developed. Simulation results show that co-simulation platform is established successfully. Movements on water surface of water strider robot subjected to water resistance and motor driving force can be viewed clearly. Furthermore the platform can be used to study the influence of parameter variation on robot movement characters to achieve optimized robot.

Keywords

control engineering computing; hydrodynamics; legged locomotion; optimisation; servomotors; ADAMS software; DC servo motor model; Matlab; Simulink; dynamic simulation; electromechanical co-simulation model; hydrodynamic model; mechanical model; motor driving force; robot movement character; robot optimisation; water resistance; water strider robot; water surface; DC motors; Legged locomotion; MATLAB; Mathematical model; Resistance;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Computational Intelligence (ICACI), 2012 IEEE Fifth International Conference on

Conference_Location

Nanjing

Print_ISBN

978-1-4673-1743-6

Type

conf

DOI

10.1109/ICACI.2012.6463293

Filename

6463293