Article | Proceedings of the 10<sup>th</sup> International Modelica Conference; March 10-12; 2014; Lund; Sweden | Implementation of the Omni Vehicle Dynamics on Modelica Link�ping University Electronic Press Conference Proceedings
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Title:
Implementation of the Omni Vehicle Dynamics on Modelica
Author:
Ivan Kosenko: Moscow State Technical University of Radio Engineering, Electronics, and Automation, Department of Engineering Mechanics, Moscow, Russia Kirill Gerasimov: Lomonosov Moscow State University, Department of Theoretical Mechanics and Mechatronics, Moscow, Russia
DOI:
10.3384/ecp140961143
Download:
Full text (pdf)
Year:
2014
Conference:
Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Issue:
096
Article no.:
120
Pages:
1143-1150
No. of pages:
8
Publication type:
Abstract and Fulltext
Published:
2014-03-10
ISBN:
978-91-7519-380-9
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press; Linköpings universitet


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Omni wheel is defined as one having rollers along its rim. Respectively omni vehicle is one equipped by omni wheels. Several steps of development of dynamical model of the omni vehicle multibody system are implemented. Essential parameters of the model: (a) number of rollers per the wheel; and (b) angle of the roller axis inclination to the wheel plane; are introduced. Initially; dynamics of the free roller moving in a field of gravity and having a unilateral contact constraint with horizontal surface is modeled. The contact tracking using simplified and efficient algorithm turns out being possible. On the next stage the omni wheel model is developed and debugged. After that the whole vehicle model is assembled as a container class having arrays of objects as instantiated classes / models of omni wheels and joints. Dynamical properties of the resulting model are illustrated via numerical experiments.

Keywords: Omni wheel; contact tracking; unilateral constraint; contact detection; model of friction

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Ivan Kosenko, Kirill Gerasimov
Title:
Implementation of the Omni Vehicle Dynamics on Modelica
DOI:
http://dx.doi.org/10.3384/ecp140961143
References:

[1] Campion, G.; Bastin, G.; d’Andréa-Novel, B.: Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots. IEEE Transactions on Robotics and Automation, Vol. 12, No. 1, pp. 47–62, 1996.

[2] Kálmán V.: Controlled Braking for Omnidirectional Wheels. International Journal of Control Science and Engineering, Vol. 3, No. 2, pp. 48–57, 2013.

[3] Tobolár, J.; Herrmann, F.; Bünte T.: Objectoriented modelling and control of vehicles with omni-directional wheels. Computational Mechanics 2009. Hrad Nectiny, Czech Republic, November 9–11, 2009.

[4] Zobova, A. A.; Tatarinov, Ya. V.: The Dynamics of an Omni-Mobile Vehicle. Journal of Applied Mathematics and Mechanics, Vol. 73, Iss. 1, pp. 8–15, 2009.

[5] Kosenko I. I., Loginova M. S., Obraztsov Ya. P., Stavrovskaya M. S., Multibody Systems Dynamics: Modelica Implementation and Bond Graph Representation. In: Proceedings of the 5th International Modelica Conference, arsenal research, Vienna, Austria, September 4–5, 2006, pp. 213–223.

[6] Kossenko I. I., Stavrovskaia M. S., How One Can Simulate Dynamics of Rolling Bodies via Dymola: Approach to Model Multibody System Dynamics Using Modelica. In: Proceedings of the 3rd International Modelica Conference, Linkopings universitet, Linköping, Sweden, November 3–4, 2003, pp. 299–309.

[7] Kosenko, I. I., Integration of the Equations of the Rotational Motion of a Rigid Body in the Quaternion Algebra. The Euler Case. Journal of Applied Mathematics and Mechanics, 1998, Vol. 62, Iss. 2, pp. 193–200.

[8] Kossenko I. I., Implementation of Unilateral Multibody Dynamics on Modelica. In: Proceedings of the 4th International Modelica Conference, Hamburg university of technology, Hamburg–Harburg, Germany, March 7–8, 2005, pp. 13–23.

[9] Novozhilov, I. V., Fractional Analysis : Methods of Motion Decomposition. Boston: Birkhauser, 1997.

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Ivan Kosenko, Kirill Gerasimov
Title:
Implementation of the Omni Vehicle Dynamics on Modelica
DOI:
http://dx.doi.org/10.3384/ecp140961143
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