We are designing a wheeled robot using SimMechanics. How to model rolling wheels in SimMechanics?

Hello, I am designing a wheeled robot using SimMechanics. I am unable to design wheels for the same. Can someone tell me possible ways to model wheels? Also how can I roll them?

Answer 1

[Sebastian Castro]

What you need to do is define a relationship between the spinning of the wheels and the motion of the wheeled robot.

You can get a pretty good overview of this by watching the following video, which shows no-slip condition for a two-wheeled differential drive robot:

http://www.mathworks.com/videos/mobile-robot-simulation-for-collision-avoidance-with-simulink-90193.html

Watch from approximate times 14:00 to 22:30.

- Sebastian