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Author:Lammi, Lauri
Title:A tool for defining models of generic mobile machines
Työkalu geneeristen liikkuvien koneiden mallintamiseksi
Publication type:Master's thesis
Publication year:2014
Pages:vi + 65 s. + liitt. 8      Language:   eng
Department/School:Sähkötekniikan korkeakoulu
Main subject:Älykkäät tuotteet   (ETA3006)
Supervisor:Kyrki, Ville
Instructor:Myrsky, Matthieu
Electronic version URL: http://urn.fi/URN:NBN:fi:aalto-201406262251
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto  1635   | Archive
Keywords:mobile machines
kinematics
simulation
robotics
model generation
liikkuvat työkoneet
kinematiikka
simulaatio
robotiikka
mallintaminen
Abstract (eng):In this thesis work, a software tool for quickly and easily defining a mobile vehicle is presented.
Vehicles are defined through a simple, intuitive 3D graphical user interface.
Based on the vehicle definition, a kinematic model is generated for the vehicle.
The kinematics calculations use state-of-the-art knowledge on the kinematics of different vehicle types.
The generated kinematic models can be used in a separate simulator module, also created for this thesis work, to simulate arbitrary vehicle configurations.
Supported vehicle types include the most common mobile industrial vehicles, such as car-like, tracked, center-articulated or passively linked vehicles.
Simulated vehicles can also be combinations of these types.
Kinematic models generated with this software are tested against data sets gained from different real-world vehicle configurations.
The models are found to be accurate and suitable for various purposes requiring a kinematic model of a vehicle.
Abstract (fin):Tässä työssä esitellään mielivaltaisten liikkuvien työkoneiden nopeaan ja helppoon määrittelyyn tarkoitettu ohjelmisto.
Käyttäjä määrittelee työkoneen yksinkertaisen, intuitiivisen 3D-käyttöliittymän avulla.
Työkoneen määritelmän perusteella generoidaan sen kinemaattinen malli.
Kinemaattisissa laskuissa käytetään uusimpia tutkimustuloksia erilaisten ajoneuvojen kinematiikasta.
Generoiduilla kinemaattisilla malleilla voidaan simuloida mielivaltaisia konekonfiguraatioita erillisessä simulaattorimoduulissa, joka luotiin osana tätä työtä.
Simulaattori tukee yleisimpiä teollisuudessa käytettyjä liikkuvia konetyyppejä, kuten automaisia, telaketjullisia, runkonivellettyjä tai passiivisesti yhdistettyjä koneita.
Simuloidut ajoneuvot voivat myös yhdistellä eri konetyyppejä.
Ohjelmistolla generoiduilla kinemaattisilla malleilla simuloidaan erilaisia tosimaailman ajoneuvokonfiguraatioita.
Simulaatiotuloksia verrataan oikeista koneista saatuun dataan.
Mallien havaitaan olevan tarkkoja ja sopivia erilaisiin tarkoituksiin, jotka vaativat ajoneuvon kinemaattisen mallin.
ED:2014-08-03
INSSI record number: 49407
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