Multi-Body Dynamics Modeling of a Spherical Mobile Robot-Reference-Cited by-同舟云学术

Multi-Body Dynamics Modeling of a Spherical Mobile Robot

Published:2014-09 Issue: Volume:635-637 Page:1321-1324
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Cai Yao¹,Gao Feng¹,Liu Ze Ning¹

Affiliation:

1. Beihang University

Abstract

This paper presents the multi-body dynamics modeling of a spherical mobile robot based on Kane method. Based on the kinematics model, the Kane method is employed to analyze the motion of three main parts of robot. A two order dynamics model of spherical mobile robot is obtained. To validate such model, some simulations are fulfilled in both Mathematica and RecurDyn environments. Simulation result shows that, the modeling of spherical mobile robot is correct and effective.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.635-637.1321.pdf

Reference11 articles.

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