Models for these cases (a) and (b) are currently “embedded” into the omni vehicle model earlier verified. For simplicity we analyze a multibody system comprising the wheel plus set of rollers being mounted along its circumference. A remainder of the vehicle is replaced by the wrench properly arranged in a way such that the wheel keeps its vertical orientation permanently. The performed computations have shown that two algorithms of the contact tracking generate completely identical dynamics of the whole multibody system.
Keywords: omni wheel; contact tracking; unilateral constraint; angled rollers; model of friction
Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015
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