Contact tracking algorithms in case of the omni-directional wheel rolling on the horizontal surface

Kosenko, I. I.; Stepanov, S. Ya.; Gerasimov, Kirill

doi:10.1007/s11044-018-09649-x

Cited by 3 publications

(5 citation statements)

References 11 publications

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“…Previously, when considering a unified model of the constraint, or, in a more general way, any physical interaction between two rigid/deformable bodies we defined [1,7] two classes of the kinematic and the effort ports. These ones are the kinematic and wrench connectors.…”

Section: Constraint Representation Via Bond Graphsmentioning

confidence: 99%

“…For simplicity and clearness we will apply the component library to simulate the dynamics of MBSs with bilateral constraints [1]. Application of the components for the unilateral constraints [7] doesn't change anything in principle.…”

Section: Implementation Of the Joint Constraintmentioning

confidence: 99%

“…Remind that according to our technology of the constraint construction [1] two connected bodies are identified by convention with the letters A and B fixed for each body. All kinematic and dynamic variables and parameters concerned one of the bodies are equipped with the corresponding letter as a subscript.…”

Section: Implementation Of the Joint Constraintmentioning

confidence: 99%

“…When developing a computer model of the MBS it is interesting to have a unified technology to construct the models in an efficient way [1]. It turns out Modelica language provides a tools to resolve such a problem successively step by step using its natural approaches [2,3].…”

Section: Introductionmentioning

confidence: 99%

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Mechanical Constraint Arrangement and Its Multibond Graph Representation

Kosenko¹

2021

9th Edition of the International Conference on Computational Methods for Coupled Problems in Science and Engineering

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When developing a computer model of the multibody system (MBS) dynamics it is interesting to have a unified technology to construct the models in an efficient way. It turns out object-oriented approach provides a tools to resolve such a problem successively step by step. One of these unified ways is connected tightly with the so-called multiport representation of the models initially based on the bond graph use. These latter ones in turn based on the idea of energy exchanges, and substantially on energy conservation for physically interconnected subsystems of any engineering type.A detailed description of the multibond graph representation for the most general type of constraint is presented. It turned out the resulting total multibond graph model of the multibody system dynamics always has exactly a canonical junction structure. This representation has a tight correspondence with our previous object-oriented implementation of the mechanical constraint architecture.Computational experience makes it possible to classify objects of the multibody system dynamics. Such a model includes two classes of objects. They correspond to notions of "body" and "constraint". Each of these notions indeed corresponds to the certain type of the multibond graph junction.

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Section: Constraint Representation Via Bond Graphsmentioning

confidence: 99%

Section: Implementation Of the Joint Constraintmentioning

confidence: 99%

Section: Implementation Of the Joint Constraintmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Mechanical Constraint Arrangement and Its Multibond Graph Representation

Kosenko¹

2021

9th Edition of the International Conference on Computational Methods for Coupled Problems in Science and Engineering

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“…The dynamic modelling of omnidirectional wheels is based on circular models related to a multipart system. For example, the authors of [ 23 ] presented contact tracking algorithms for omnidirectional wheels rolling on a horizontal surface. The proposed approach was employed in previous research to determine the wheel–rail traction point [ 24 , 25 ].…”

Section: Introductionmentioning

confidence: 99%

Determination of the Kinematic Excitation Originating from the Irregular Envelope of an Omnidirectional Wheel

Duda

Dudek²,

Gembalczyk

et al. 2021

Sensors

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This paper describes a test stand for determining the kinematic excitation originating from the contact between a vehicle’s wheel and the ground, thus acting on the single suspension upright of the vehicle. This excitation is unique to the movement of omnidirectional wheels and originates from the irregular envelope of the wheel. The presented attitude enables the vertical displacement of the wheel’s axis rolling on a horizontal surface to be determined. This work includes experimental results considering different wheel orientations against the direction of movement.

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