A stewart platform type motion simulator[1] has been developed, in order to generate the HMMWV (High Mobility Multipurpose Wheeled Vehicle) motion. The purpose of this simulator is to test the stabilization system of the mobile surveillance robot that is mounted on the HMMWV. For developing this motion simulator, the multibody dynamics model of the motion simulator has been created 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 using ADAMS and MATLAB/Simulink. Actual hardware of the motion simulator has been fabricated. Hardware test of the motion simulator has been tried to validate the design.

Volume Subject Area:
7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
Topics:
Robots, Surveillance, Testing, Vehicles, Design, Hardware, Dynamic analysis, Dynamics (Mechanics), Matlab, Mechanical admittance, Multibody dynamics, Simulation
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