Advanced Tools for Multi-Body Simulation and Design of Control Structures Applied in Robotic System Development

Abstract

The paper deals with a design of a 3-wheeled mobile robot based on Mecanum omnidirectional wheels. The 3D CAD geometry model was initially prepared with Pro-Engineer. The key issue with respect to design methodology reported in this research work is related to the application of co-simulation strategy. System ADAMS, intended for multi-body simulations, was used to evaluate dynamic behavior of the robot platform. MATLAB/Simulink was applied for testing the performance and control of structures. The co-simulation strategy consists mainly in application of ADAMS and MATLAB simultaneously, in one loop, utilizing its respective advantages. Further, as an alternative way to cover both multi-body and control aspects, Chrono::Engine system (by A. Tasora) was introduced in this work.

Semi-Active Suspension System for 2S1 Tracked Platform in Application of Improvement of the Vehicle Body Stability

“…In simulation process with contact forces usage, geometries fidelity of parts being in contact is very important. In continuation of simulation topic, Kubela et al [12] describes multi-body mechanism simulation in ADAMS computer program. They shows co-simulation environment with usage of Matlab-Simulink program.…”

Construction and Simulation of a 2S1 Tracked Vehicle Model and its Verification Using Vertical Forces on the Road Wheels while Overcoming a Single Obstacle

“…Łukaszewicz [6] in his article, explains multi-body CAD designing problem for simulation applications. In continuation of simulation topic, Kubela et al [7] describes multi-body mechanism simulation in ADAMS computer program, in this specific case, in co-simulation with Matlab-Simulink program.…”