Design, Modeling and Simulation for Obstacle Crossing Robot Based on In-Wheel Motor

2014 ◽  
Vol 651-653 ◽  
pp. 710-715 ◽  
Author(s):  
Guan Jun Meng ◽  
Zu Tao Zhang ◽  
Hong Xu
Keyword(s):  
Performance Evaluation ◽  
Modeling And Simulation ◽  
Complex Terrain ◽  
Simulation Environment ◽  
Small Space ◽  
Obstacle Crossing ◽  
Active Mode

This paper presents a novel Omni-directional obstacle crossing robot with a combination of passive and active obstacle crossing mode which uses binocular cameras to detect obstacles. The Omni-directional movements can enhance the ability of the robot working in small space and improve the efficiency of steering. The combination of passive and active mode can not only guarantee the adaptability to complex terrain but also enhance the obstacle-crossing ability of the robot. This system was tested in simulation environment, and the last performance evaluation demonstrates the validity of the proposed obstacle crossing robot.

Design, Modeling and Simulation of a Novel Omni-Directional Steering System

2013 ◽  
Vol 433-435 ◽  
pp. 1857-1861
Author(s):  
Xiao Pei Li ◽  
Zu Tao Zhang
Keyword(s):  
Performance Evaluation ◽  
Modeling And Simulation ◽  
Electric Vehicle ◽  
Steering System ◽  
Front Wheel ◽  
Simulation Environment ◽  
Zero Radius ◽  
The Stability

This paper presents a novel omni-directional steering system for electric vehicle. In order to guarantee the stability and the steerability of the electric vehicle, the proposed novel steering system consists of 2 conditional front wheel steering configuration and 4 wheel omni-directional independent steering configuration. The design of the 2 conditional front wheel steering configuration can guarantee the stability and the steerability of the vehicle. And the four wheel independent steering can achieve omni-directional motions such as zero radius turning (ZRT) and later parking (LP). This system was tested in simulation environment, and the last performance evaluation demonstrates the validity of the proposed omni-directional steering system.

MODELING AND SIMULATION OF A 5-AXIS RV-2AJ ROBOT USING SIMMECHANICS

2015 ◽  
Vol 76 (4) ◽  
Author(s):  
Mohammad Afif Ayob ◽  
Wan Nurshazwani Wan Zakaria ◽  
Jamaludin Jalani ◽  
Mohd Razali Md Tomari
Keyword(s):  
Modeling And Simulation ◽  
Inverse Kinematics ◽  
Cad Model ◽  
Robot Arm ◽  
Simulation Environment ◽  
Kinematics Simulation ◽  
Real Robot ◽  
Forward And Inverse Kinematics ◽  
Simulation Results ◽  
Multi Body

This paper presents the reliability and accuracy of the developed model of 5-axis Mitsubishi RV-2AJ robot arm. The CAD model of the robot was developed by using SolidWorks while the multi-body simulation environment was demonstrated by using SimMechanics toolbox in MATLAB. The forward and inverse kinematics simulation results proposed that the established model resembles the real robot with accuracy of 98.99%. 

scholarly journals Modeling and simulation of transients in electric power systems using hybrid system theory

2019 ◽  
Vol 24 ◽  
pp. 02012
Author(s):  
Yury Shornikov ◽  
Evgeny Popov
Keyword(s):  
System Theory ◽  
Power Systems ◽  
Power System ◽  
Mathematical Models ◽  
Modeling And Simulation ◽  
Electric Power ◽  
Hybrid System ◽  
Electric Power Systems ◽  
Electric Power System ◽  
Simulation Environment

Transients in electric power systems are of great interest to power engineers when designing a new or maintaining an existing system. The paper deals with using hybrid system theory for modeling and simulation of an electric power system with controllers. The presented technique is rather convenient and recommended as mathematical models of transients in electric power systems with controllers in general contain both continuous and discrete components. The modeling and simulation were carried out in the modeling and simulation environment ISMA, which is briefly presented in the paper.

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