Article | Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015 | Dynamical Model of a Vehicle with Omni Wheels: Improved and Generalized Contact Tracking Algorithm
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Title:
Dynamical Model of a Vehicle with Omni Wheels: Improved and Generalized Contact Tracking Algorithm
Author:
Ivan Kosenko: Department of Theoretical Mechanics, Moscow Aviation Institute, Russia Sergey Stepanov: Department of Mechanics, Dorodnitsyn Computing Center of RAS, Russia Kirill Gerasimov: Department of Theoretical Mechanics and Mechatronics, Lomonosov Moscow State University, Russia Alexey Rachkov: Department of Theoretical Mechanics, Moscow Aviation Institute, Russia
DOI:
10.3384/ecp15118803
Download:
Full text (pdf)
Year:
2015
Conference:
Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015
Issue:
118
Article no.:
086
Pages:
803-809
No. of pages:
7
Publication type:
Poster
Published:
2015-09-18
ISBN:
978-91-7685-955-1
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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A model of the multibody dynamics for an omni wheel assuming embedded in a frame of wider dynamical environment of the whole vehicle is under development and verification. Modelica base classes developed earlier for the multibody applications with contacts involving friction are used. Generalization has been performed for the model of contact tracking algorithm between roller and horizontal floor. Generalization includes non-zero angle between the roller axis of rotation and plane of the omni wheel. Contact tracking algorithm is implemented in two cases: (a) implicit and (b) explicit.

Models for these cases (a) and (b) are currently ‚Äúembedded‚ÄĚ 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

Author:
Ivan Kosenko, Sergey Stepanov, Kirill Gerasimov, Alexey Rachkov
Title:
Dynamical Model of a Vehicle with Omni Wheels: Improved and Generalized Contact Tracking Algorithm
DOI:
http://dx.doi.org/10.3384/ecp15118803
References:

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I. Kosenko and K. Gerasimov. Implementation of the omni vehicle dynamics on Modelica. In Proceedings of the 10th International Modelica Conference, pages 311‚Äď322, March 2014.


I. I. Kosenko. Implementation of unilateral multibody dynamics on Modelica. In Proceedings of the 4th International Modelica Conference, pages 13‚Äď23, March 2005.


I. I. Kosenko, M. S. Loginova, Ya. P. Obraztsov, and M. S. Stavrovskaya. Multibody systems dynamics: Modelica implementation and bond graph representation. In Proceedings of the 5th International Modelica Conference, pages 213‚Äď223, September 2006.


J. Tobol√°r, F. Herrmann, and T. B√ľnte. Object-oriented modelling and control of vehicles with omni-directional wheels. In Computational Mechanics 2009, November 2009.

Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015

Author:
Ivan Kosenko, Sergey Stepanov, Kirill Gerasimov, Alexey Rachkov
Title:
Dynamical Model of a Vehicle with Omni Wheels: Improved and Generalized Contact Tracking Algorithm
DOI:
http://dx.doi.org/10.3384/ecp15118803
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