CONTROL-CENTRIC SIMULATOR FOR MECHATRONICS DESIGN Case Study: Gyroscopically Stabilized Single Wheel Robot
TL;DR: A 3-Dimensional simulation platform developed as an aid for designing complex mechatronics system is presented and dynamic analysis of single wheel robot is used in this paper as an example to illustrate its uses.
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Abstract: A 3-Dimensional simulation platform developed as an aid for designing complex mechatronics system is presented in this paper. It uses ADAMS for simulation with animation of the dynamic behavior of the mechanism whose parts are drawn using a 3-D drawing software e.g., SolidWorks. The overall simulation platform integrates the 3-D simulator ADAMS with control design software MATLAB. This integration allows the designer to adopt a control-centric approach for designing complex mechanical structure to be used in a mechatronics system. Dynamic analysis of single wheel robot is used in this paper as an example to illustrate its uses. The simulating environment can easily be extended to any complex mechanical system simply by altering SolidWorks drawings.
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References
A single-wheel, gyroscopically stabilized robot
H.B. Brown,Yangsheng Xu +1 more
- 22 Apr 1996
TL;DR: The robot, called Gyrover, is a single-wheel vehicle with an internal gyroscope that provides mechanical stabilization and steering capability that conveys significant advantages over multi-wheel, statically stable vehicles, including good dynamic stability and insensitivity to attitude disturbances.
118
Dynamic Mobility with Single-Wheel Configuration
TL;DR: The robot concept, three prototypes of the design, and system implementation are presented, including good dynamic stability and insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability.
46
Decoupled dynamics and stabilization of single wheel robot
Kwok Wai Samuel Au,Yangsheng Xu +1 more
- 17 Oct 1999
TL;DR: A linear state feedback control law is designed that stabilizes the single wheel robot toward/in different lean angles, so as to control the precession rate.
34
Design of a gyroscopically stabilized single-wheeled robot
Tanveer Saleh,Yap Haw Hann,Zhu Zhen,Abdullah Al Mamun,V. Prahlad +4 more
- 01 Dec 2004
TL;DR: The design of a gyroscopically stabilized single-wheeled robot follows the same principle for stability but uses a different mechanism to effect forward and reverse motion.
21
Tracking control of the gyrobot-a gyroscopically stabilized single-wheeled robot
Abdullah Al Mamun,Z. Zhen,Prahlad Vadakkepat,T.H. Lee +3 more
- 01 Jan 2005
TL;DR: The gyrobot is a gyroscopically stabilized, single-wheeled robot with a fast spinning flywheel mounted inside the frame providing lateral stability of the wheel-shaped robot as mentioned in this paper.
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