The robot turns around in the Simscape Multibody.

Question

Hlab 2022-12-2

回答： Steve Miller 2022-12-3

I use Simscape Multibody(R2022b) to simulate the running of a two-wheeled robot.

The robot is using Solid blocks as the model.

I use Infinite Plane blocks for the ground.

I use Spatial Contact Force block to calculate the contact force.

6-DOF Joint block is used to constrain the robot to the ground.

This is because the robot is designed to run on uneven terrain.

Since the robot is symmetrical, it should not turn if the torque applied to the left and right wheels is the same.

However, in the simulation, the robot turns even though the same torque is applied to the left and right wheels.

Is there any possible cause for this?

Please let me know if you have any suggestions for improvement.

Sorry for the vague question.

Answer 1

Steve Miller 2022-12-3

There are many possible reasons why your robot would turn:

Check which way the wheels are spinning. If they are spinning in opposite directions, the robot will turn.
If torque with the same sign causes the wheels to spin in opposite directions, your joints may be aligned differently. Check the orientation of the z-axis for the joints.
If your wheels are turning in the same direction but different speeds, that could cause the robot to turn. Check the location of the center of mass for the robot and the inertias of the wheels.

--Steve