A Real-Time Multibody Dynamics Model for an Unmanned Robot Vehicle Based on the Subsystem Synthesis Method

2014 ◽  
pp. 333-355 ◽  
Author(s):  
Myoung-Ho Kim ◽  
Hee Chan Kang ◽  
Sung-Soo Kim
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Synthesis Method ◽  
Dynamics Model ◽  
Multibody Dynamics Model

scholarly journals Multibody Dynamics Model and Simulation for the Totally Enclosed Lifeboat Lowered From Ship in Rough Seas

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 32171-32187
Author(s):  
Shaoyang Qiu ◽  
Hongxiang Ren ◽  
Haijiang Li ◽  
Yi Zhou ◽  
Delong Wang
Keyword(s):  
Multibody Dynamics ◽  
Dynamics Model ◽  
Model And Simulation ◽  
Multibody Dynamics Model

scholarly journals Multibody dynamics model of head and neck function in Allosaurus (Dinosauria, Theropoda)

10.26879/338 ◽  
2013 ◽  
Vol 16 (2) ◽  
Author(s):  
Eric Snively ◽  
John R. Cotton ◽  
Ryan Ridgely ◽  
Lawrence M. Witmer
Keyword(s):  
Head And Neck ◽  
Multibody Dynamics ◽  
Dynamics Model ◽  
Neck Function ◽  
Multibody Dynamics Model

scholarly journals Mobility Enhancement of Heavy-Duty Tracked Vehicles Under Load Using Real-Time Terrain Characterization, Traction Control, and a Towing Winch

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Joshua T. Cook ◽  
Laura E. Ray ◽  
James H. Lever
Keyword(s):  
Real Time ◽  
Control Strategies ◽  
Dynamics Model ◽  
Traction Control ◽  
Tracked Vehicles ◽  
Selection Approach ◽  
Vehicle Mobility ◽  
State Force ◽  
And Control ◽  
Multibody Dynamics Model

This paper presents a generalized, multibody dynamics model for a tracked vehicle equipped with a towing winch and control strategies that enhance vehicle mobility by regulating track slip based on real-time terrain characterization and automating winch use. The vehicle model is validated under conditions where no action is taken by the winch. Thereafter, two mobility enhancing control strategies are outlined. The first strategy regulates track slip to a real-time estimated value that generates maximum net traction. This is done by computing state-force estimates from a Kalman filter that are compared to terrain traction models using a Bayesian hypothesis selection approach. If the vehicle is traction limited and the first strategy fails, a second strategy that automates winch use is activated. Simulation results are shown for both scenarios.

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