Control-Centric Simulator For Mechatronics Design Case Study: Gyroscopically Stabilized Single Wheel Robot

Zhen, Zhu; Al-Mamun, A.; Naing, Myint Phone

doi:10.21307/ijssis-2017-345

Abstract

A 3-Dimensional simulation platform developed as an aid for designing complex mechatronics system is presented in this paper. It uses ADAMS for simulation with animation of the dynamic behavior of the mechanism whose parts are drawn using a 3-D drawing software e.g., SolidWorks. The overall simulation platform integrates the 3-D simulator ADAMS with control design software MATLAB. This integration allows the designer to adopt a control-centric approach for designing complex mechanical structure to be used in a mechatronics system. Dynamic analysis of single wheel robot is used in this paper as an example to illustrate its uses. The simulating environment can easily be extended to any complex mechanical system simply by altering SolidWorks drawings

References

N. Orlandea, Development and application of node-analogous sparsity-oriented methods for simulation of mechanical dynamic systems, Ph.D. Thesis, University of Michigan, Ann Arbor MI, USA, 1973
Search in Google Scholar Back to article
R. Rampalli, “ADAMS – a sparse matrix approach to solving multi-body dynamics problems”, NASA Workshop on Multi-Body Simulation, California Institute of Technology, USA, 1987
Search in Google Scholar Back to article
N.E.N. Rodriguez, G. Carbone and M. Ceccarelli, “Simulation results for design and operation of CALUMA, a new low-cost humanoid robot”, Robotica, 2008, Vol. 26, pp. 601-61810.1017/S0263574708004189
Search in Google Scholar Back to article
H.B. Brown and Y. Xu, “A single wheel gyroscopically stabilized robot”, Proc. IEEE International Conference on Robotics and Automation, 1996, vol. 4, pp. 3658-366310.1109/100.618022
Search in Google Scholar Back to article
T. Saleh, H.H. Yap, Z. Zhu, A. Al-Mamun and P. Vadakkepat, “Design of a gyroscopically stabilized single wheel robot:, Proc. of 2004 IEEE Conference on Robotics, Automation and Mechatronics, Singapore, 1-3 Dec, 2004, vol. 2, pp. 904-908
Search in Google Scholar Back to article
A. Al-Mamun, Z. Zhu, P. Vadakkepat and T.H. Lee, “Tracking control of the gyrobot – gyroscopically stabilized single-wheel robot”, Proc. of the 32^nd Annual Conf. of the IEEE Industrial Electronics Society, IECON’05, Raleigh, NC, USA, 6-10 Nov, 2005
Search in Google Scholar Back to article
Coefficient of Friction Table: http://www.roymech.co.uk/Usefultables/Tribology/co of frict.htm
Search in Google Scholar Back to article
[8]Y. Xu, H.B. Brown and K.W. Au, “Dynamic mobility with single wheel configuration”, International Journal of Robotics Research, Vol. 18, No. 7, July, 1999, pp. 728-73810.1177/02783649922066538
Back to article
K.W. Au and Y. Xu, “Decoupled dynamics and stabilization of single wheel robot”, Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1999, Kyongju, Korea, 17-21 Oct, 1999, pp. 197-203
Search in Google Scholar Back to article

Control-Centric Simulator For Mechatronics Design Case Study: Gyroscopically Stabilized Single Wheel Robot

Abstract

Paradigm

My account