isimanufatura/KinematicAnalysis
Methodology to adapt and compare the results obtained from ADAMS simulations with the analytical kinematics of an inchworm-type robot.
Kinematic Analysis
This repository is dedicated to the kinematic analysis of a robot, specifically an inchworm-type robot. The project involves analytical modeling, simulation, and comparison with ADAMS (Automatic Dynamic Analysis of Mechanical Systems) to validate the results. The repository is currently under construction, and contributions are welcome!
Project Overview
Inchworm Robot Configuration
The inchworm robot is a bio-inspired robot designed to mimic the movement of an inchworm. It uses a series of contractions and extensions to traverse surfaces, making it suitable for applications in confined spaces or uneven terrains.
Analytical vs. ADAMS Comparison
The project includes a detailed comparison between analytical methods and ADAMS simulations to validate the kinematic analysis. This ensures the accuracy and reliability of the robot's motion.
Example 1: 4 axis Robot
Graphs
The repository contains graphs to illustrate the analysis process, including the results from both analytical and ADAMS simulations.
1-2 Step
1-2-3-4 Step
