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Nelin. Dinam., 2016, Volume 12, Number 2, Pages 251–262 (Mi nd525)  

This article is cited in 1 scientific paper (total in 1 paper)

Original papers

Physically oriented simulation of the omnivehicle dynamics

I. I. Kosenkoa, K. V. Gerasimovb

a Moscow Aviation Institute (National Research University), Volokolamskoe shosse 4, 125993, Moscow, Russia
b Lomonosov Moscow State University, GSP-1, 1-52, Leninskie gory, 119991, Moscow, Russia

Abstract: The omniwheel is defined as a wheel having rollers along its rim. Accordingly, the omnivehicle is a vehicle equipped with omniwheels. Several steps of development of the dynamical model of the omni vehicle multibody system are implemented. Initially, the dynamics of the free roller moving in a field of gravity and having a unilateral rigid contact constraint with a horizontal surface is modeled. It turned out that a simplified and efficient algorithm for contact tracking is possible. On the next stage the omniwheel model is implemented. After that the whole vehicle model is assembled as a container class having arrays of objects as instantiated classes/models of omniwheels and joints. The dynamical properties of the resulting model are illustrated via numerical experiments.

Keywords: omniwheel, contact tracking algorithm, unilateral constraint, contact detection, friction model, object-oriented modeling

Funding Agency Grant Number
Russian Science Foundation 14-21-00068


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Document Type: Article
UDC: 531/534+681.3.06
MSC: 00A71, 68U20, 70E18, 70E55, 74H15, 74M10, 74M15, 74M20
Received: 12.02.2016
Revised: 21.05.2016

Citation: I. I. Kosenko, K. V. Gerasimov, “Physically oriented simulation of the omnivehicle dynamics”, Nelin. Dinam., 12:2 (2016), 251–262

Citation in format AMSBIB
\Bibitem{KosGer16}
\by I.~I.~Kosenko, K.~V.~Gerasimov
\paper Physically oriented simulation of the omnivehicle dynamics
\jour Nelin. Dinam.
\yr 2016
\vol 12
\issue 2
\pages 251--262
\mathnet{http://mi.mathnet.ru/nd525}
\elib{http://elibrary.ru/item.asp?id=26193561}


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    Citing articles on Google Scholar: Russian citations, English citations
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    This publication is cited in the following articles:
    1. G. N. Moiseev, A. A. Zobova, “Stability of the rectilinear motion of an omni vehicle with consideration of wheel roller inertia”, Moscow University Mechanics Bulletin, 73:6 (2018), 145–148  mathnet  crossref  isi
  • Нелинейная динамика
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