VIRTUAL PROTOTYPING of
ROBOTS DYNAMICS
E. Tarabanov
INTRODUCTION
Modern computer technology achievements allow:
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to simulate systems’ separate unit functioning;
to present systems’ 3D shape on a monitor
screen;
to investigate its behavior under conditions that
are close to real ones.
With simulation, one can
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gain better understanding how a system works
identify problems prior to their implementation
test potential effects of changes
identify areas for resource deployment
design efficient and cost-effective systems
VIRTUAL PACKAGES
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MSC.Adams
Universal Mechanism (UM)
MatLab
DyMoLa
Webots
Simbad
ThreeDimWorks
RoboWorks
MATLAB
MatLab is an interactive software system for
numerical computations and graphics.
MatLab is designed especially for matrix
computations: solution solving of linear equation
systems, computing eigenvalues, eigenvectors
and matrices, and so on.
MATLAB scopes:
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mathematics and calculations;
algorithm development;
computing experiment, imitating modeling,
prototyping;
data analysis and result researches;
scientific and engineering visualizations;
application development, including the graphic
interface of the user
MATLAB/Simulink
Simulink is an interactive tool for dynamics
system modeling and analysis.
User creates device model by means of
standard blocks and carries out calculations.
There are additional block libraries for different
scopes as SimPowerSystems – electrotechnical
devices modeling, SimMechanics – mechanical
devices modeling, Digital Signal Processing
Blockset – a digital device development, etc.
MatLab: Bus suspension
Designing an automatic suspension system for a bus
MatLab/Simulink: r3
Dynamics model structure
DyMoLa
DyMoLa is a complete tool for modeling and
simulation of integrated and complex systems for
use within automotive, aerospace, robotics
processes and other applications.
DyMoLa is based on Modelica, which is an
object-oriented language for physical modeling.
DyMoLa: Examples
Vehicle model animation
including transmission
and engine
Robot model animation
built with the MultiBody
library and the Modelica
Standard library
DyMoLa: Air-conditioning system
UNIVERSAL MECHANISM
UM was designed to automate the analysis
of mechanical objects connected by means of
kinematical and force elements.
UM widely applies computer graphics
methods to display system’s 3D motion in
equation process and to analyze the obtained
results.
UM: Subsystem technique
Train as a subsystem set
UM: Solving direct and inverse
kinematic problems
Motion animation
UM: Examples
Spider robot
Robot “Puma”
Bipedal walking robot
MSC.ADAMS
It allows to test virtual prototypes and optimize
designs for performance, safety and comfort, without
having to build and test numerous physical prototypes.
Software package structure
ADAMS benefits:
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work in a secure virtual environment, without the
fear of losing critical data;
reduce risk by getting better design information at
every stage of the development process;
analyze design changes much faster;
improve product quality by exploring numerous
design variations in order to optimize full-system
performance;
vary the kinds of analyses being performed without
having to modify physical instrumentation, test
fixtures, and test procedures.
ADAMS extensions:
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ADAMS/Control - to analyze control systems;
ADAMS/Flex - to examine the impact of flexible
parts;
ADAMS/Linear - to calculate natural frequencies
and mode shapes of large systems.
ADAMS: Examples
Automobile engine
Chassis work
Orbit operations
Racing car movement
ADAMS: Multilink robot
General view of a segment
ZMEELOC
ZMEELOC: Virtual model
ZMEELOC: Modeling results
Direct course
ZMEELOC: Modeling results
Lateral course
SEPTOPOD: SolidWorks model
SEPTOPOD: ADAMS model
Rotary paw view
SEPTOPOD: Modeling results
SEPTOPOD: Modeling results
The top view
Humanoid robot: Modeling results
Movement model
Humanoid robot: Modeling results
Movement model
CONCLUSION
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Modeling is the first step to design, identify and
control robots and it’s a powerful technique to
improve quality and productivity. Most efficient
algorithms proposed for these applications are
based on good study of robot model parameters.
These operations need to be carefully planned.
Modern virtual prototyping tools have possibility
to project dynamic and mechanic systems and
allow to reach greater success in designing.
The successful coordination and interaction of
robots and software will require new system
designs, communication protocols and interfaces.