Modeling and Simulation of a Military Urban Robot Using Working Model
Abstract
The ultimate goals of the modeling efforts were to verify the capabilities of the design to negotiate obstacles, to provide feedback to the design process, and to assist in the development of control algorithms. Modeling was approached with multiple tools. Initially, a kinematics analysis of the vehicle helped in understanding the motion of the microrobot and provided insights for the modeling efforts. The microrobot was then modeled in both Knowledge Revolution Inc.'s Working Model (registered) 2-D and 3-D engineering simulation programs. Finally, Mechanical Dynamics Inc.'s ADAMS (registered) was used to develop a full engineering model of the microrobot to include control algorithms. To date, the modeling effort has focused on the ability of the microrobot to handle stairs. This was viewed as a crucial and significant challenge that must be addressed if the vehicle is to function in urban warfare. Working Model (registered) proved to be a powerful tool that enabled rapid examination of changes in parameters such as weight, center of gravity, strut lengths, coefficients of friction and restitution, etc. Results from the modeling effort impacted the preliminary design of the wheel and strut mobility mechanism and focused on issues that must be addressed in the final design to facilitate stair climbing. Finally, the modeling proved that the JPL/ARL/ORNL/USC team's microrobot can climb stairs using a primarily static sequence.
Document Details
- Document Type
- Technical Report
- Publication Date
- Nov 01, 1998
- Accession Number
- ADA356656
Entities
People
- Bailey T. Haug
- Raymond Von Wahlde
- Timothy T. Vong
Organizations
- United States Army Research Laboratory