Jumping leg on sliding rail simulation
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Hello, I'm working on a hexagonal hexapod robot and my goal is to make it hop. I need some simulation tools, and I was thinking that maybe SimMechanics can help me: I'd like to simulate a single 2 joints leg raising a mass. I would model the foot contact with a Hunt-Crossley non linear spring-damper model.
Having never used SimMechanics, I wonder if:
- - it's possible to simulate this kind of leg constrained to slide on a rail system (I'm only interested in the vertical motion of the mass; imagine it like a sort of slider-crank mechanism)
- - it's possible to have planar simulations
- - it's possible to emulate the elastic transmission, that is to say the series elastic actuation I have on the real robot, essential for the jump task; even if I guess this can be also realized by modelling a torsional spring in the knee joint.
Thanks in advance for any helpful tip; this would help me to save time and decide if SimMechanics is the right tool or not.
Marcello
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