Development of a motion simulator for testing a mobile surveillance robot

• Published in: Journal of mechanical science and technology Vol. 23; no. 4; pp. 1065 - 1070
• Main Authors: Kim, Sung-Soo, Wallrapp, Oskar, Kwon, Jeong Joo, Kim, Do Hyun, Wachter, Diana
• Format: Journal Article Conference Proceeding
• Language: English
• Published: Heidelberg Korean Society of Mechanical Engineers 01.04.2009; Springer Nature B.V; 대한기계학회
• Subjects: Amusement parks; Applied sciences; Computer science; control theory; systems; Control; Control system analysis; Control theory. Systems; Design engineering; Dynamic tests; Dynamical Systems; Dynamics; Engineering; Exact sciences and technology; Hardware; Industrial and Production Engineering; Mechanical Engineering; Motion simulators; Robotics; Robots; Surveillance; Three dimensional models; Vibration; 기계공학; Unmanned ground vehicle; Multibody dynamics model; Co-simulation; 6-axis motion simulator; unmanned ground vehicles; Control system analysis; Moving robot; dynamic control; Stabilization; N body system; Program analysis; Dynamical system; Modeling; Geometrical model; Robotics; Surveillance; Cosimulation; Dynamic model; Motion control; Simulator; Computer aided design; Monitoring
• ISSN: 1738-494X; 1976-3824
• DOI: 10.1007/s12206-009-0342-3

A 6-axis motion simulator has been developed, in order to regenerate UGV (unmanned ground vehicle) motion and to test the stabilization system of the mobile surveillance robot that is mounted on the UGV. For developing the 6-axis motion simulator, a simulation-based design procedure was introduced. The 3D geometric model of the motion simulator was created by using 3D CAD modeler ProE. The multibody dynamics model of the motion simulator has also been created by using the general purpose dynamic analysis program ADAMS to validate the design of the motion simulator. Dynamics and control co-simulation model for the motion simulator has been also established for control performance analyses. Actual hardware of the motion simulator has been fabricated based on the proposed simulation based design. Hardware test of the motion simulator has been tried to validate the design.