Hexapod Actuation

Allows a user to specify hexapod geometry, then calculates the joint torques and rotaitonal speeds required from actuators.

This is a static simulation only; dynamic loads are not considered. The simulation only consideres one leg and assumes that all legs are symmetric. The results are ballpark estimates only and should be considered only as a part of the process of actuator selection. All masses are considered point masses at the central locations of parts. The robot is assumed to always take the largest step possible. The leg simulated here is the leg whose home position is perpendicular to the robot's direciton of motion.