MODELING HALF-CIRCULAR COMPLIANT LEG BY USING SIMMECHANICS


Ogucu M. O., SARANLI A., YAZICIOĞLU Y.

15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Maryland, United States Of America, 23 - 26 July 2012, pp.231-238 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • City: Maryland
  • Country: United States Of America
  • Page Numbers: pp.231-238
  • Middle East Technical University Affiliated: Yes

Abstract

Despite the well-understood effects and benefits, half-circular compliant legs are difficult in terms of modeling and analyzing. In many studies, simplified models have been used, which have a number of assumptions and whose validity need to be verified either against the actual physical system or against a more accurate simulation model. Leaving the experimental validation issues to the future works, the aim of this study is to come up with a more accurate simulation model of the half-circular compliant leg with the minimum number of assumptions, approximations and simplifications. For this purpose, Simulink/SimMechanics modeling and simulation environment is considered. We believe that our simulation model to be a better approximation of the system behavior because, it allows for a more general leg shape during locomotion. Also, slippage conditions can be carried out. The simulation is more general overall, allowing a distributed leg mass, non-planar leg behavior as well as allowing wider contact area with the surface.