Motion Simulation of Underwater Hexapod Robot Based on Adams

摘要

This paper considers an underwater hexapod robot that can not only cruise in the sea, but also crawl on the seafloor. In the development process of the robot, it is impossible to debug and validate the gait planning algorithms in the field test before the completion of the design, manufacture, and assembly of robot entity. Meanwhile, the seafloor environment contains many uncertainties. Therefore, this paper aims to perform the visual motion simulation of the crawling process of an underwater hexapod robot using Adams. The motion simulation includes gait planning data from the MATLAB experiment, mechanical modeling of the robot based on Adams, simulation environment setting, and motion simulation and analysis. This allows researchers to simulate the complex seafloor environment and verify the correctness of gait planning. The motion simulation provides an effective way to speed up the development process of the robot.