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.
Matt Martone (2019). Hexapod Actuation (https://www.mathworks.com/matlabcentral/fileexchange/71712-hexapod-actuation), MATLAB Central File Exchange. Retrieved .
Verified calculation outputs and added ability to simulate climbing slopes at an angle.