Co-Simulation of Two-Wheel Differential Spherical Robot Based on ADAMS and MATLAB

Abstract

This paper proposes a novel approach for two-wheel differential spherical robot (TWDSR) design to monitor the power cable tunnel environment. A co-simulation of dynamic modeling and controller design is conducted based on ADAMS (Automatic Dynamic Analysis of Mechanical System) and MATLAB platforms, respectively. The combined simulation takes the advantages of dynamic modeling for complicated mechanical structure of ADAMS and various controller designs of MATLAB. We established the virtual prototype model of TWDSR composed of spherical shell, cart and driving wheels in ADAMS. The rectilinear motion and steering motion are modeled by loading different inputs on the driving wheel. Based on results of the model, we analyzed the basic open-loop motion control characteristics of TWDSR. Subsequently, the ADAMS virtual prototype model is imported into MATLAB to design the velocity controller by Simulink module. The co-simulation results demonstrate that the designed mechanism of TWDSR is suitable for power cable tunnel monitoring. The motion control simulation determines the parameter values of PI controller and evaluates the system motion performance. The co-simulation of TWDSR provides detailed references for the development and implementation of the physical prototype in the future.