Simscape Multibody Contact Forces Mecanum Wheels
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Hi.
I' m trying to develop a simulation model of a 4-wheel omnidirectional vehicle.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/627353/image.jpeg)
I'm using the torque actuation in the revolute joints connecting the wheels with the chassis. A feedback loop with a PI controller in each joint keeps the angular velocity constant. The control works fine with the wheels in the air (no contact with the floor).
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/627358/image.jpeg)
But when I let the wheels get in contact with the floor, the angular velocity neasured in the revolute joints shows a lot of 'noise':
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/627363/image.jpeg)
The movent of the vehicle on the floor is correct. it moves forward-backward, left-right and CW-CCW as expected but the mesured angular velocity of the wheels is awfull. I'm sure that these disturbances are due to the spatial contact forces. I've tried changing the contact and friction parameters but I can not get rid of the noise.
Find attached the file solids and the simulation model if you want to try it.
Any help will be very appreciated.
Best regards
2 Comments
Wpp
on 23 Aug 2021
Good question. may I ask the problem solved?
Generally, the motor output shaft is with a reducer before the wheel
Le
on 25 Feb 2024
Dear Casanova,
My name is Le Dinh Thieu. I am student at da nang sciense and technology university at Vietnam. During this semester, i have a PBL about Mecanum robot but I have many difficulties in the process of building model simulations in simscape modeling even though I have read your article about this issue. Maybe my understanding of simscape is not enough, so from the dynamic equation you stated in the document, I hope you can send me more detailed documents about simscape modeling mecanum robot.
Thank you very much
Accepted Answer
Juan Sagarduy
on 26 May 2021
Hi there
When look at the wheels, it looks like they are made of transversal cylinders on the perimeter. Rolling would be disrupted and discontinuous on the floor. But i can have a quick look if any correction can be made.
Br Juan
8 Comments
Le
on 25 Feb 2024
Dear Casanova,
My name is Le Dinh Thieu. I am student at da nang sciense and technology university at Vietnam. During this semester, i have a PBL about Mecanum robot but I have many difficulties in the process of building model simulations in simscape modeling even though I have read your article about this issue. Maybe my understanding of simscape is not enough, so from the dynamic equation you stated in the document, I hope you can send me more detailed documents about simscape modeling mecanum robot.
Thank you very much
More Answers (1)
Le
on 25 Feb 2024
Dear Casanova,
My name is Le Dinh Thieu. I am student at da nang sciense and technology university at Vietnam. During this semester, i have a PBL about Mecanum robot but I have many difficulties in the process of building model simulations in simscape modeling even though I have read your article about this issue. Maybe my understanding of simscape is not enough, so from the dynamic equation you stated in the document, I hope you can send me more detailed documents about simscape modeling mecanum robot.
Thank you very much
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