CONTROL-CENTRIC SIMULATOR FOR MECHATRONICS DESIGN Case Study: Gyroscopically Stabilized Single Wheel Robot

Publications

Share / Export Citation / Email / Print / Text size:

International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic

GET ALERTS

eISSN: 1178-5608

DESCRIPTION

8
Reader(s)
19
Visit(s)
0
Comment(s)
0
Share(s)

VOLUME 2 , ISSUE 2 (June 2009) > List of articles

CONTROL-CENTRIC SIMULATOR FOR MECHATRONICS DESIGN Case Study: Gyroscopically Stabilized Single Wheel Robot

Zhu Zhen / A. Al-Mamun / Myint Phone Naing

Keywords : Gyrobot, ADAMS, Single wheel robot, Dynamic simulation

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 2, Issue 2, Pages 190-199, DOI: https://doi.org/10.21307/ijssis-2017-345

License : (CC BY-NC-ND 4.0)

Published Online: 02-November-2017

ARTICLE

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.

Content not available PDF Share

FIGURES & TABLES

REFERENCES

[1] 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
[2] 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
[3] 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. 601-618
[4] H.B. Brown and Y. Xu, “A single wheel gyroscopically stabilized robot”, Proc. IEEE International Conference on Robotics and Automation, 1996, vol. 4, pp. 3658-3663
[5] 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
[6] A. Al-Mamun, Z. Zhu, P. Vadakkepat and T.H. Lee, “Tracking control of the gyrobot – gyroscopically stabilized single-wheel robot”, Proc. of the 32nd Annual Conf. of the IEEE Industrial Electronics Society, IECON’05, Raleigh, NC, USA, 6-10 Nov, 2005
[7] Coefficient of Friction Table: http://www.roymech.co.uk/Useful_tables/Tribology/co_of_frict.htm
[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. 728-738
[9] 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

EXTRA FILES

COMMENTS