Hexapod Simulation in MATLAB

In today's tutorial, I am going to share a new project designed in MATLAB and named as Hexapod Simulation in ...

hexapod simulation in matlab, hexapod matlab, matlab hexapod, hexapod in matlab, matlab hexapod simulationHello fiends, hope you all are fine and having fun with your lives. In today's tutorial, I am going to share a new project designed in MATLAB and named as Hexapod Simulation in MATLAB. We all know about the Hexapod, its a special kind of robot which has six legs. Hexa is used for six so its quite obvious that hexapod has six legs on it.

I have designed this project on a client's request and today I thought to share it with you guys. Because this Hexapod simulation in MATLAB is designed after a lot of efforts by our TEP team that's why this simulation is not free to download but we have placed a small price on it so that engineering students can buy it easily. So, let's get started with Hexapod Simulation in MATLAB.

Hexapod Simulation in MATLAB

  • First of all, you need to buy this Hexapod Simulation in MATLAB by clicking the below button:

[dt_button link="https://www.theengineeringprojects.com/product/hexapod-simulation-matlab-2" target_blank="false" button_alignment="default" animation="fadeIn" size="medium" style="default" bg_color_style="default" bg_hover_color_style="default" text_color_style="default" text_hover_color_style="default" icon="fa fa-chevron-circle-right" icon_align="left"]Buy This Simulation[/dt_button]

  • When you buy this project, you will get three files in it which are named as:
  • Hexapod.m
  • RobotMotion.m
  • Robot Design.m
  • You need to open the first one named as Hexapod.m, this is the Main file for this Hexapod Simulation in MATLAB.
  • It has the below code in it:
clc;
clearvars;
close all;
imtool close all;
subplot(6,6,1:30)
xlabel('x'); ylabel('y'); zlabel('z'); 
axis([-150 200 -50 150 0 150])
grid on
hold on

Inc = 0;
firstLen = 50;
secondLen = 50;
stepSize = 20;
StepsTaken = 1;
y1 = 0;
y2 = 1;

RobotDesign(firstLen,secondLen)
subplot(6,6,31)
subplot(6,6,32)
subplot(6,6,33)
subplot(6,6,34)
subplot(6,6,35)
subplot(6,6,36)
OldInc = 0;
for b = 0:1:StepsTaken-1

subplot(6,6,1:30)
[Inc OldInc y1 y2]= RobotMotion(firstLen,secondLen,stepSize,Inc,OldInc, y1, y2);

end
  • As you can see in the above code, we can set different parameters like lengths of legs and the steps it can take etc.
  • Let me give a slight overview of Hexapod and how it works. So, have a look at below figure:
hexapod simulation in matlab, hexapod matlab, matlab hexapod, hexapod in matlab, matlab hexapod simulation
  • I have designed a small hexapod and I have colored its legs.
  • The red Color legs are called Gate 1 while the green color legs are called Gate 2.
  • Now, when a Hexapod moves its first three legs (Gate 1) which I have designed in Red Color are first moved in upward motion and after that the Gate 1 moves in the Forward Direction and then finally Gate 1 moves in downward direction.
  • After that the Gate 2 Legs are move in upward Direction and then Gate 2 Legs are moved in Forward Direction and finally Gate 2 moves in downward direction.
  • Now when all legs are moved in Forward direction then finally the Robot Body is moved in Forward Direction.
  • Let me summarize these steps:
  1. Gate 1 (Red Legs) moves in Upward Direction.
  2. Gate 1 (Red Legs) moves in Forward Direction.
  3. Gate 1 (Red Legs) moves in Downward Direction.
  4. Gate 2 (Green Legs) moves in Upward Direction.
  5. Gate 2 (Green Legs) moves in Forward Direction.
  6. Gate 2 (Green Legs) moves in Downward Direction.
  7. Robot Body moves in Forward Direction.
  • These are the 7 steps a hexapod takes to move a single step Forward.
  • Now in the above code, I have used some variables which are:
  1. firstLen = 50;
  2. secondLen = 50;
  3. stepSize = 20;
  4. StepsTaken = 1;
 
  • firstLen is the length of Gate 1 legs which I have set 50 rite now.
  • secondLen is the length of Gate 2 legs.
  • stepSize is how big the step should be.
  • StepsTaken is how much steps it should take.
  • Now when you run the simulation then the first thing you will get is shown in below figure:
hexapod simulation in matlab, hexapod matlab, matlab hexapod, hexapod in matlab, matlab hexapod simulation
  • AS I have given StepsTaken = 1 so it will just take one step, you can change it though and when it takes one step the final position of robot will be as shown in below figure:
hexapod simulation in matlab, hexapod matlab, matlab hexapod, hexapod in matlab, matlab hexapod simulation
  • Now, if you compare the above two figures then you can see the starting position of Hexapod in x direction was 0 but when it took first step then now its position is 20.
  • The below four graphs are showing the angles of your robot gates in radians.
  • The below video will explain this project in detail:
That's all for today. I hope you have liked this Hexapod simulation in MATLAB. Before buying this project you must watch this video so that you have a clear overview of this Hexapod simulation in MATLAB.

Leave a Reply

Leave a Reply


Comments on ‘’Hexapod Simulation in MATLAB‘’ ( 1 )