Using Simulation during Development of Combined Manipulator and Hybrid Locomotion Platform

Abstract: Work Partner robot is a combination of a hybrid locomotion robot platform, and a special two hand manipulator mounted over the platform. A rigid body simulation model has been build of this whole system to help in development process. The robot platform, called Hybtor, and the manipulator has to work in collaboration. Kinematic simulation model of the platform has been used for visual study of different locomotion styles and in verification of the high level control software of the real physical platform prototype. Goals in dynamic model simulations are to study locomotion stability and forces and torque in robot joints. A Virtual prototype model of the two hand manipulator under design is used for kinematics analyses. Workspace considerations like collision avoidance and reach are studied using different task scenarios in simulations