Abstract
In this chapter, real-time multibody dynamics models for an unmanned robot vehicle have been developed. The unmanned robot vehicle consists of six identical suspension subsystems. The suspension system comprises an MR-rotary damper and air springs with a double slider-crank mechanism. A 1/6 robot vehicle model was constructed, and then a full vehicle model was effectively generated by synthesizing six 1/6 robot vehicle models, using the subsystem synthesis method. An explicit–implicit integrator has been employed for the stable solutions. In order to improve efficiency, a model with simplified suspensions was also developed. The simplified suspension model consists of just a rotational spring-damper. Equivalent spring characteristics were obtained from approximating the characteristics of the original model. Through the rough terrain run simulations, the computational efficiency of the subsystem synthesis method was investigated with regard to the formulations, subsystem model simplification, and different integration methods.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Atkinson KE (1978) An introduction to numerical analysis. Wiley, London
Bae DS, Haug EJ (1987) A recursive formulation for constrained mechanical system dynamics—part I :open-loop systems. Mech Struct Mach 15(3):359–382
Bae DS, Haug EJ (1987) A recursive formulation for constrained mechanical system dynamics—part II: closed-loop systems. Mechanics of Structures and Machines 15(4):481–506
Bae DS, Hwang RS, Haug EJ (1988) A recursive formulation for real-time dynamic formulation. In: Rao SS (ed) Advances in design automation (ASME), pp 499–508
Bayo E, Garcia de Jalon J, Avello A, Cuadrado J (1991) An efficient computational method for real time multibody dynamics simulation in fully Cartesian coordinates. Comput Method Appl Mech Eng 92:377–395
Bouhraoua A, Merah N, AlDajani M, ElShafei M (2010) Design and implementation of an unmanned ground vehicle for security applications. In: Proceedings of the 7th international symposium on mechatronics and its applications, Dhahran, Saudi Arabia
Choi GJ, Heo SJ (2006) Classification of the Korean road roughness. Trans KSAE 14(5): 115–120
Featherstone R (1983) The calculation of robot dynamics using articulated body inertias. Int J Rob Res 2:13–30
Featherstone R (1987) Robot dynamics algorithm. Kluwer Academic Publication, New York
Han JB, Jo JY, Kim S-S, Wang JH, Kim JY (2011) An explicit-implicit integration method for multibody dynamics model based on a subsystem synthesis method. In: Proceedings of multibody dynamics 2011 ECCOMAS thematic conference, Brussels, Belgium
Hibert HM, Hughes TJR, Talyor RL (1977) Improved numerical dissipation for time integration algorithms in structural dynamics. Earthq Eng Struct Dyn 5:283–292
Jo JY, Kim MH, Kim S-S (2012) Joint coordinate subsystem synthesis method with implicit integrator in the application to the unmanned military robot. EUROMECH Colloquium 524 multibody system modeling, control and simulation for engineering design
Jo JY, Kim S-S, Kim MH (2012) An explicit-implicit integration method for unmanned robot vehicle using the subsystem synthesis method based on joint coordinates. In: Proceedings of the 2nd joint international conference on multibody system dynamics, Stuttgart, Germany
Joo SH, Lee JH, Park YW, Yoo WS, Lee JH (2013) Real time traversability analysis to enhance rough terrain navigation for an 6 \(\times \) 6 autonomous vehicle. J Mech Sci Technol 27(4):1125–1134
Kim S-S (2002) A subsystem synthesis method for efficient vehicle multibody dynamics. Multibody Syst Dyn 7(2):189–207
Kim S-S, Jeong WH, Jo JY, Wang JH (2011) Mutlibody vehicle dynamics analysis using an explicit-implict integrator with subsystem synthesis method. In: Proceedings on ASME international design engineering technical conferences and computers and information in engineering conference, Washington DC, USA
Kim S-S, Jeong WH, Jung DH, Choi HJ (2010) HIL-simulation for evaluation of intelligent chassis controller using real-time multibody vehicle dynamics model. In: Proceedings of the 1st joint international conference on multibody system dynamics, Lappeenranta, Finland
Kim S-S, Jeong WH, Kim MH, Han JB (2012) Comparative study on multibody vehicle dynamics models based on subsystem synthesis method using Cartesian and joint coordinates. Theoret Appl Mech Lett 2:063010
Kim S-S, Kim SW, Kang HC, Oh MC (2013) A remote operating system of an unmanned military robot for indoor test environment. In: Proceeding of ISR 2013
Maplesoft (2011) Maple TM 15 user manual. A division of Waterloo Maple Inc
Mogebbi A, Safaee S, Keshmiri M, Mohebbi S (2010) Design, simulation and manufacturing of a tracked surveillance unmanned ground vehicle. In: Proceedings of the IEEE international conference on robotics and biomimetices, Motreal, Canada
MSC Software (2013) Complete multibody dynamics analysis with adams. MSC Software Inc
Negrut D, Rampalli R, Ottarssom G, Sajdak A (2005) On the use of the HHT method in the context of index 3 differential algebraic equations of multibody dynamics. In: Proceedings of ASME IDETC/CIE, pp 1–12
Tsai FF, Huag EJ (1991) Real-time multibody system dynamic simulation, part I: a modified recursive formulation and topological analysis. Mech Struct Mach 19(1):99–127
Walker MW, Orin DE (1982) Efficient dynamic computer simulation of robotic mechanisms. J Dyn Syst Meas Control ASME 104:205–211
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Kim, MH., Kang, H.C., Kim, SS. (2014). A Real-Time Multibody Dynamics Model for an Unmanned Robot Vehicle Based on the Subsystem Synthesis Method. In: Terze, Z. (eds) Multibody Dynamics. Computational Methods in Applied Sciences, vol 35. Springer, Cham. https://doi.org/10.1007/978-3-319-07260-9_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-07260-9_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-07259-3
Online ISBN: 978-3-319-07260-9
eBook Packages: EngineeringEngineering (R0)