Physically oriented simulation of the omnivehicle dynamics

DOI10.20537/ND1602007MaRDI QIDQ2821439zbMATH OpenOpenAlexFDO

Authors Kirill Vyacheslavovich Gerasimov, I. I. Kosenko

Publication date 20 September 2016

Published in Nelineĭnaya Dinamika (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NoDerivs 4.0 International

Full work available at URL http://mathnet.ru/eng/nd525

zbMATH Keywords

contact detectioncontact tracking algorithmfriction modelobject-oriented modelingomniwheelunilateral constraint

Mathematics Subject Classification ID

Motion of a rigid body in contact with a solid surface (70E18) Dynamics of multibody systems (70E55) Friction in solid mechanics (74M10) Contact in solid mechanics (74M15) Impact in solid mechanics (74M20)

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Cited in

(9)

• Vehicle dynamics simulations with coupled multibody and finite element models
• A multibody approach for modelling universal wheels of mobile robots
• On the motion of a symmetrical vehicle with omniwheels with massive rollers
• Stability of the rectilinear motion of an omni vehicle with consideration of wheel roller inertia
• Dynamics and control of an omniwheel vehicle
• Research on the dynamics of an omnidirectional platform taking into account real design of mecanum wheels (as exemplified by KUKA youBot)
• Dynamics-Based Piecewise Constant Control of an Omnivehicle
• Geometry and kinematics of the Mecanum wheel on a plane and a sphere
• No-overturn conditions for omnivehicle motion

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