Geodesic
Physically oriented simulation of the omnivehicle dynamics
Russian journal of nonlinear dynamics, Tome 12 (2016) no. 2, pp. 251-262

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The omniwheel is defined as a wheel having rollers along its rim. Accordingly, the omnivehicle is a vehicle equipped with omniwheels. Several steps of development of the dynamical model of the omni vehicle multibody system are implemented. Initially, the dynamics of the free roller moving in a field of gravity and having a unilateral rigid contact constraint with a horizontal surface is modeled. It turned out that a simplified and efficient algorithm for contact tracking is possible. On the next stage the omniwheel model is implemented. After that the whole vehicle model is assembled as a container class having arrays of objects as instantiated classes/models of omniwheels and joints. The dynamical properties of the resulting model are illustrated via numerical experiments.
Keywords: omniwheel, contact tracking algorithm, unilateral constraint, contact detection, friction model, object-oriented modeling. 
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     author = {I. I. Kosenko and K. V. Gerasimov},
     title = {Physically oriented simulation of the omnivehicle dynamics},
     journal = {Russian journal of nonlinear dynamics},
     pages = {251--262},
     publisher = {mathdoc},
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     year = {2016},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2016_12_2_a6/}
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I. I. Kosenko; K. V. Gerasimov. Physically oriented simulation of the omnivehicle dynamics. Russian journal of nonlinear dynamics, Tome 12 (2016) no. 2, pp. 251-262. http://geodesic.mathdoc.fr/item/ND_2016_12_2_a6/