Integrated ADAMS+MATLAB environment for design of an autonomous single wheel robot

Abstract

Integration of ADAMS with MATLAB for designing and developing mechatronics system is presented in this paper. The integrated platform provides an avenue for realizing design loop for developing a mechatronics system without the need for building prototypes. The virtual prototype developed in ADAMS can be used to investigate dynamic behavior in a 3-dimensional environment. Though ADAMS has the capability of implementing a closed loop control of the virtual prototype, its capability is quite restricted. On the other hand, MATLAB is well known for designing control systems. Integrating ADAMS with MATLAB allows us to get the benefit of both. This virtual environment can be used to expedite control-centric design cycle for developing a mechatronic system. The integrated platform was used to verify different features of a gyroscopically stabilized single wheel robot. Mechanical drawings of the robot are first created using a CAD software, e.g., Solidworks and imported into the ADAMS, where the material type, density are defined. Dynamics of the robot in autonomous mode are simulated using the integrated platform in which the controller is designed and implemented using MATLAB. Simulation results can then be used to modify mechanical design. Although the virtual platform is tested for one specific system, it can be easily used for design of other mechatronic systems.