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Object-oriented approach to the construction of an omni vehicle dynamical model

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Abstract

Omni vehicles are equipped with omni wheels, which are built with rollers along the rims. This study implements several steps to develop a dynamical model for an omni vehicle multibody system. The dynamics of a free roller that moves in gravity and features a unilateral contact constraint with a horizontal surface is first modeled. Contact tracking is performed with the use of a simplified and efficient algorithm. An omni wheel model is then developed and debugged. A whole vehicle model is subsequently assembled as a container class that comprises arrays of objects as instantiated classes, which are in fact models of omni wheels and joints. The dynamical properties of the resulting model are illustrated through numerical experiments.

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Authors and Affiliations

  1. Faculty of Cybernetics, Moscow State Technical University of Radio Engineering, Electronics, and Automation, 78 Vernadsky Avenue, 119454, Moscow, Russia

    Ivan Kosenko

  2. Faculty of Mechanics and Mathematics, Lomonosov Moscow State University, 1 Leninskiye Gory, Main Building, GSP-1, 119991, Moscow, Russia

    Kirill Gerasimov

Authors
  1. Ivan Kosenko
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  2. Kirill Gerasimov
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Corresponding author

Correspondence to Ivan Kosenko.

Additional information

This paper was presented at the Joint Conference of the 3rd IMSD and the 7th ACMD, Busan, Korea, June, 2014. Recommended by Guest Editor Sung-Soo Kim and Jin Hwan Choi

Ivan Kosenko received his M.S., Ph.D., and Dr. Sc. degrees, all in physics and mathematics, from the Lomonosov Moscow State University in 1974, 1982, and 2000, respectively. He is currently the head of the Engineering Mechanics Department, Faculty of Cybernetics, Moscow State Technical University of Radio Engineering, Electronics, and Automation. His scientific interests include theory of stability, dynamical systems, celestial mechanics, space dynamics, multibody dynamics, and simulation of dynamics.

Kirill Gerasimov received his M.S. degree in physics and mathematics from the Lomonosov Moscow State University, Russia, in 2014. He is currently a Ph.D. student at the Lomonosov Moscow State University, Department of Theoretical Mechanics and Mechatronics. His main scientific interests are multibody dynamics, contact mechanics, software for modeling, and simulation.

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Kosenko, I., Gerasimov, K. Object-oriented approach to the construction of an omni vehicle dynamical model. J Mech Sci Technol 29, 2593–2599 (2015). https://doi.org/10.1007/s12206-015-0503-5

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  • DOI: https://doi.org/10.1007/s12206-015-0503-5

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