VIRTUAL PROTOTYPING ofVIRTUAL PROTOTYPING of
ROBOTS DYNAMICSROBOTS DYNAMICS
E. TarabanovE. Tarabanov
INTRODUCTIONINTRODUCTION
Modern computer technology achievements Modern computer technology achievements allow:allow:
to simulate systems’ separate unit functioning;to simulate systems’ separate unit functioning; to present systems’ 3D shape on a monitor to present systems’ 3D shape on a monitor
screen;screen; to investigate its behavior under conditions that to investigate its behavior under conditions that
are close to real ones.are close to real ones.
With simulation, one canWith simulation, one can
gain better understanding how a system worksgain better understanding how a system works identify problems prior to their implementation identify problems prior to their implementation test potential effects of changes test potential effects of changes identify areas for resource deployment identify areas for resource deployment design efficient and cost-effective systemsdesign efficient and cost-effective systems
VIRTUAL PACKAGESVIRTUAL PACKAGES
MSC.AdamsMSC.Adams Universal Mechanism Universal Mechanism
(UM)(UM) MatLabMatLab DyMoLaDyMoLa WebotsWebots SimbadSimbad ThreeDimWorksThreeDimWorks RoboWorksRoboWorks
MATLABMATLAB
MatLab is an interactive software MatLab is an interactive software system for numerical computations and system for numerical computations and graphics.graphics.
MatLab is designed especially for MatLab is designed especially for matrix computations: solution solving of matrix computations: solution solving of linear equation systems, computing linear equation systems, computing eigenvalues, eigenvectors and matrices, eigenvalues, eigenvectors and matrices, and so on.and so on.
mathematics and calculations;mathematics and calculations; algorithm development;algorithm development; computing experiment, imitating computing experiment, imitating
modeling, prototyping;modeling, prototyping; data analysis and result researches;data analysis and result researches; scientific and engineering visualizations;scientific and engineering visualizations; application development, including the application development, including the
graphic interface of the usergraphic interface of the user
MATLAB scopes:MATLAB scopes:
MATLAB/SimulinkMATLAB/Simulink
SimulinkSimulink is an interactive tool for is an interactive tool for dynamics system modeling and analysis.dynamics system modeling and analysis.
User creates device model by means of User creates device model by means of standard blocks and carries out calculations.standard blocks and carries out calculations.
There are additional block libraries for There are additional block libraries for different scopes as SimPowerSystems – different scopes as SimPowerSystems – electrotechnical devices modeling, electrotechnical devices modeling, SimMechanics – mechanical devices SimMechanics – mechanical devices modeling, Digital Signal Processing Blockset modeling, Digital Signal Processing Blockset – a digital device development, etc.– a digital device development, etc.
MatLab: Bus MatLab: Bus suspensionsuspension
Designing an automatic suspension system for a bus
MatLab/Simulink: r3MatLab/Simulink: r3
Dynamics model structure
DyMoLaDyMoLa
DyMoLa is a complete tool for modeling DyMoLa is a complete tool for modeling and simulation of integrated and complex and simulation of integrated and complex systems for use within automotive, aerospace, systems for use within automotive, aerospace, robotics processes and other applications.robotics processes and other applications.
DyMoLa is based on Modelica, which is an DyMoLa is based on Modelica, which is an object-oriented language for physical modeling.object-oriented language for physical modeling.
DyMoLa: ExamplesDyMoLa: Examples
Robot model animation built with the MultiBody library and the Modelica Standard library
Vehicle model animation including transmission and engine
DyMoLa: Air-conditioning DyMoLa: Air-conditioning systemsystem
UNIVERSAL MECHANISMUNIVERSAL MECHANISM
UM was designed to automate the UM was designed to automate the analysis of mechanical objects connected analysis of mechanical objects connected by means of kinematical and force by means of kinematical and force elements.elements.
UM widely applies computer graphics UM widely applies computer graphics methods to display system’s 3D motion in methods to display system’s 3D motion in equation process and to analyze the equation process and to analyze the obtained results.obtained results.
Train as a subsystem set
UM: Subsystem techniqueUM: Subsystem technique
Motion animation
UM: Solving direct and inverse UM: Solving direct and inverse kinematic problemskinematic problems
Robot “Puma”
Spider robot
Bipedal walking robot
UM: ExamplesUM: Examples
MSC.ADAMMSC.ADAMSS
It allows to test virtual prototypes and It allows to test virtual prototypes and optimize designs for performance, safety and optimize designs for performance, safety and comfort, without having to build and test comfort, without having to build and test numerous physical prototypes.numerous physical prototypes.
Software package structureSoftware package structure
work in a secure virtual environment, without work in a secure virtual environment, without the fear of losing critical data;the fear of losing critical data;
reduce risk by getting better design information reduce risk by getting better design information at every stage of the development process;at every stage of the development process;
analyze design changes much faster;analyze design changes much faster; improve product quality by exploring numerous improve product quality by exploring numerous
design variations in order to optimize full-system design variations in order to optimize full-system performance;performance;
vary the kinds of analyses being performed vary the kinds of analyses being performed without having to modify physical without having to modify physical instrumentation, test fixtures, and test instrumentation, test fixtures, and test procedures.procedures.
ADAMS benefits:ADAMS benefits:
ADAMS/Control - to analyze control systems;ADAMS/Control - to analyze control systems; ADAMS/FlexADAMS/Flex - to examine the impact of - to examine the impact of
flexible parts;flexible parts; ADAMS/Linear - to calculate natural ADAMS/Linear - to calculate natural
frequencies and mode shapes of large frequencies and mode shapes of large systems.systems.
ADAMS extensions:ADAMS extensions:
Automobile engine
Chassis work
Orbit operations
Racing car movement
ADAMS: ADAMS: ExamplesExamples
ADAMS: Multilink ADAMS: Multilink robotrobot
General view of a segment
ZMEELOCZMEELOC
ZMEELOC: Virtual modelZMEELOC: Virtual model
ZMEELOC: Modeling resultsZMEELOC: Modeling results
Direct course
Lateral course
ZMEELOC: Modeling resultsZMEELOC: Modeling results
SEPTOPOD: SEPTOPOD: SolidWorks modelSolidWorks model
SEPTOPOD: ADAMS modelSEPTOPOD: ADAMS model
Rotary paw view
SEPTOPOD: Modeling resultsSEPTOPOD: Modeling results
SEPTOPOD: Modeling resultsSEPTOPOD: Modeling results
The top view
Humanoid robot: Modeling resultsHumanoid robot: Modeling results
Movement model
Humanoid robot: Modeling resultsHumanoid robot: Modeling results
Movement model
Modeling is the first step to design, identify and Modeling is the first step to design, identify and control robots and it’scontrol robots and it’s aa powerful technique to powerful technique to improve quality and productivity. Most efficient improve quality and productivity. Most efficient algorithms proposed for these applications are algorithms proposed for these applications are based on good study of robot model based on good study of robot model parameters. These operations need to be parameters. These operations need to be carefully planned.carefully planned.
Modern virtual prototyping tools have possibility Modern virtual prototyping tools have possibility to project dynamic and mechanic systems and to project dynamic and mechanic systems and allow to reach greater success in designing. allow to reach greater success in designing.
The successful coordination and interaction of The successful coordination and interaction of robots and software will require new system robots and software will require new system designs, communication protocols and designs, communication protocols and interfaces.interfaces.
CONCLUSIONCONCLUSION