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2 International Journal of Applied Mechanics and Engineering

2 2010

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Modelling the motion of the mobile hybrid robot

Trojnacki M. T.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

885-893

In this paper, the state of the art of mobile hybrid robots was depicted. These kinds of mobile robots can move in a more diversified terrain than traditional wheeled or tracked ones. In this work, the kinematic structure of a small mobile hybrid robot is illustrated. The sequence of climbing of this robot on the stairs is described. The model of the robot for its six characteristic configurations was described. Simulation and animation of the robot climbing the stairs is performed. It is executed using the Matlab/Simulink package.

Modelling of mechanisms using SimMechanics toolbox of Matlab/Simulink package

Trojnacki M. T., Nycz S.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

875-883

The hereby work discusses the possibilities of modelling different types of mechanisms using the SimMechanics toolbox of the Matlab/Simulink package. Presentations are made on simulation results for sample mechanisms. The mechanism simulations were supported by a row of animations displaying their motions. The presentation features the benefits, limitations and the disadvantages of the SimMechanics toolbox in the area of mechanism modelling.