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VIRTUAL PROTOTYPING of ROBOTS DYNAMICS

VIRTUAL PROTOTYPING of ROBOTS DYNAMICS. E. Tarabanov. INTRODUCTION. Modern computer technology achievements allow: 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.

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VIRTUAL PROTOTYPING of ROBOTS DYNAMICS

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  1. VIRTUAL PROTOTYPING of ROBOTS DYNAMICS E. Tarabanov

  2. INTRODUCTION Modern computer technology achievements allow: • 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.

  3. With simulation, one can • 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

  4. VIRTUAL PACKAGES • MSC.Adams • Universal Mechanism (UM) • MatLab • DyMoLa • Webots • Simbad • ThreeDimWorks • RoboWorks

  5. 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.

  6. MATLAB scopes: • 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

  7. 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.

  8. MatLab: Bus suspension Designing an automatic suspension system for a bus

  9. MatLab/Simulink: r3 Dynamics model structure

  10. 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.

  11. DyMoLa: Examples Vehicle model animation including transmission and engine Robot model animation built with the MultiBody library and the Modelica Standard library

  12. DyMoLa: Air-conditioning system

  13. 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.

  14. UM: Subsystem technique Train as a subsystem set

  15. UM: Solving direct and inverse kinematic problems Motion animation

  16. UM: Examples Spider robot Bipedal walking robot Robot “Puma”

  17. 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

  18. ADAMS benefits: • 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.

  19. ADAMS extensions: • 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.

  20. ADAMS: Examples Automobile engine Orbit operations Chassis work Racing car movement

  21. ADAMS: Multilink robot General view of a segment

  22. ZMEELOC

  23. ZMEELOC: Virtual model

  24. ZMEELOC: Modeling results Direct course

  25. ZMEELOC: Modeling results Lateral course

  26. SEPTOPOD: SolidWorks model

  27. SEPTOPOD: ADAMS model Rotary paw view

  28. SEPTOPOD: Modeling results

  29. SEPTOPOD: Modeling results The top view

  30. Humanoid robot: Modeling results Movement model

  31. Humanoid robot: Modeling results Movement model

  32. CONCLUSION • Modeling is the first step to design, identify and control robots and it’sapowerful 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.

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