2024
DOI: 10.1108/ijius-12-2023-0192
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Multibody dynamics modeling and simulation of a three-wheeled mobile robot using a robotic approach

Aymen Khadr

Abstract: PurposeThis paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the dynamic behavior of the developed model is verified using a physical model obtained by Simscape Multibody.Design/methodology/approachFirstly, a geometric model is developed using the modified Denavit–Hartenberg method. Then the dynamic model is derived using the algorithm of Newton–Euler. The developed model is performed for a three-… Show more

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