Dynamic Modelling of Mobile Robots Based on its 3D CAD Model

摘要

Usage of the mobile robots is extended in all areas of human life and work. The investigation of their behaviour becomes popular among the researchers around the world. Dynamic modelling of the mobile robot can be simplified by using their 3D CAD model. In this paper, the dynamic model of mobile robot is developed by MATLAB/Simulink using previously created 3D CAD model in SOLIDWORKS. As example, the mobile robot Robotino by FESTO is chosen. Assembly of mobile robot in form of xml file is imported from SOLIDWORKS to MATLAB. Such approach provides automatically generation of dynamics of robot's mechanical subsystem. Then, the model can be modified and upgraded, for instance to organize it on several levels, to actuate the wheels by motors, etc. Validation of the dynamic model is performed by simulation.