Kirill Gerasimov


    Kosenko I., Gerasimov K.
    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
    Citation: Kosenko I., Gerasimov K.,  Physically oriented simulation of the omnivehicle dynamics, Rus. J. Nonlin. Dyn., 2016, Vol. 12, No. 2, pp.  251-262

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