SolidWorks/Simscape Multibody Co-Simulation of the Dynamic Model of a Mobile Manipulator System

Authors

  • Jean Marie Lauhic Ndong Mezui Department of Mechanical Engineering, École Normale Supérieure de l’Enseignement Technique, Libreville, Gabon
  • Jean Brice Mandatsy Moungomo Department of Mechanical Engineering, École Normale Supérieure de l’Enseignement Technique, Libreville, Gabon
  • Guy Richard Kibouka Department of Mechanical Engineering, École Normale Supérieure de l’Enseignement Technique, Libreville, Gabon
  • Francis Okou Department of Electrical and Computer Engineering, Royal Military College, Ontario, Canada
  • Maarouf Saad Department of Electrical Engineering, École de Technologie Supérieure, Montréal, Canada

Keywords:

Mobile-manipulator, Computer-aided design, SolidWorks, Matlab, Simscape Multibody, Co-simulation

Abstract

This article analyzes the behaviour of the dynamics of a physical model (PM) of the mobile manipulator system (MMS). This model uses computer-aided design (CAD). The SolidWorks model is exported to Matlab using the Simscape Multibody exporter to create the PM from the XML file. The mathematical model (MM) is developed from the methods of D-H and Euler-Lagrange. The goal here is to show that the dynamic behaviour of the PM designed for SolidWorks and Matlab software approaches the behaviour of the MMS. To analyze the behaviours of the PM and the MM, a co-simulation allowing to have a virtual environment is carried out with SolidWorks, Matlab and a control structure based on the PID. The tests carried out with the proposed control structure show that the angular velocities and the control forces are similar to the two models. The similarity of the two models also proves that the MM is sufficiently precise for the design of the control laws.

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Published

29-01-2023

Issue

Section

Articles

How to Cite

[1]
J. M. L. N. Mezui, J. B. M. Moungomo, G. R. Kibouka, F. Okou, and M. Saad, “SolidWorks/Simscape Multibody Co-Simulation of the Dynamic Model of a Mobile Manipulator System”, IJRESM, vol. 6, no. 1, pp. 79–87, Jan. 2023, Accessed: Apr. 18, 2024. [Online]. Available: https://journal.ijresm.com/index.php/ijresm/article/view/2521