Adhira, Aldi and Boediardjo, Kirina and Guritno, Wahyu (2015) Study of Kinematics, Mathematical Modelling, and Simulation of Hexapod Robot Using V-REP Simulator and MATLAB Simulink. Bachelor thesis, Swiss German University.

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Abstract

This thesis work’s purposes are to develop mathematical model for hexapod robot, simulate the robot numericaly and mechanically. After it is simulated the result should be analyzed and observed and then finally compare the analisis between the two simulation. The simulation parameters are the kinematics of the robot, the walking gait , and finally the torque of the robot. The V-REP simulator wil be used to do the mechanical simulation while MATLAB simulink will be used to do the numerical simulation. Both of the simulation should be done simultaneously. The V-REP main focus was to visualize the robot while MATLAB simulink main focus was to do numerical calculation kinematics of the robot.. The thesis work will consider all important parameter in a hexapod system. More importantly the kinematics because it is the main study of this thesis. The exception of this work is the modelling of the motor.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Hexapod Robot; Mathematical Modelling; Mechanical Simulation; Robotic Simulation; Numerical Simulation
Subjects:	Q Science > QA Mathematics > QA76 Computer software Q Science > QA Mathematics > QA76 Computer software > QA76.73 Programming languages (Electronic computers) T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Atroridho Rizky
Date Deposited:	04 Nov 2020 01:47
Last Modified:	21 Apr 2021 06:35
URI:	http://repository.sgu.ac.id/id/eprint/1441

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