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| Development of a motion simulator for testing a mobile surveillance robot
Sung-Soo Kim
The Journal of Mechanical Science and Technology, vol. 23, no. 4, pp.1065-1070, 2009
Abstract : 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.
Keyword : 6-axis motion simulator; Unmanned ground vehicle; Co-simulation; Multibody dynamics model |
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TEL: +82-2-501-3605, E-mail: editorial@j-mst.org |
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TEL: +82-2-501-6056, FAX: +82-2-501-3649, E-mail: editorial@j-mst.org |
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