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一种基于SimMechanics的车轮地面模型

A Wheel-terrain Interaction Model Based on SimMechanics
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摘要 在移动机器人设计过程中,仿真模拟是提高产品设计效率的有效途径。文中提出一种在Matlab/Simulink环境下基于SimMechanics工具箱的车轮地面模型,并将本模型应用于模拟车轮在地面行驶的两种工况,使得利用SimMechanics工具箱模拟机器人在复杂地形上的移动成为可能。该模型不仅可用来模拟车轮在地面上的行驶状况,还可以为进一步的研究提供参考方向。 The simulation is an effective way to improve the mobile robot design process. A wheel-terrain interaction model based on SimMechanics in environment Matlab/Simulink is presented in this paper, and applied to simulate two kinds of motion when wheel on the ground, which make it possible to simulate mobile robot under a complex terrain condition with toolbox SimMechanics. This model can not be only used to simulate wheel on the ground, but also can provide the reference information for further studies.
作者 沈斌 占彦
出处 《机械工程师》 2009年第8期61-63,共3页 Mechanical Engineer
关键词 移动机器人 车轮地面模型 SimMechanics工具箱 mobile robot wheel-terrain interaction model SimMechanics
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参考文献3

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  • 2Versteden W D.Improving a tyre model for Motorcycle simulations [D]. Eindhoven: TU Eindhoven, 2005.
  • 3Wood G D,Kennedy D C.Simulating Mechanical Systems in Simulink with SimMechanics [EB/OL]. http://www.mathworks. com/matlabcentral/fileexchange/2871,2003.
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