1. VIRTUAL PROTOTYPING of ROBOTS DYNAMICS E. Tarabanov

2. INTRODUCTION Modern computer technology achievements allow: to simulate systems’ separate unit functioning; to simulate systems’ separate unit functioning; to present systems’ 3D shape on a monitor screen; to present systems’ 3D shape on a monitor screen; to investigate its behavior under conditions that are close to real ones. to investigate its behavior under conditions that are close to real ones.

4. With simulation, one can gain better understanding how a system works gain better understanding how a system works identify problems prior to their implementation identify problems prior to their implementation test potential effects of changes test potential effects of changes identify areas for resource deployment identify areas for resource deployment design efficient and cost-effective systems design efficient and cost-effective systems

5. VIRTUAL PACKAGES MSC.Adams MSC.Adams Universal Mechanism (UM) Universal Mechanism (UM) MatLab MatLab DyMoLa DyMoLa Webots Webots Simbad Simbad ThreeDimWorks ThreeDimWorks RoboWorks RoboWorks

6. MATLAB MatLab is an interactive software system for numerical computations and graphics. MatLab is designed especially for matrix computations: solution solving of linear equation systems, computing eigenvalues, eigenvectors and matrices, and so on.

7. mathematics and calculations; mathematics and calculations; algorithm development; algorithm development; computing experiment, imitating modeling, prototyping; computing experiment, imitating modeling, prototyping; data analysis and result researches; data analysis and result researches; scientific and engineering visualizations; scientific and engineering visualizations; application development, including the graphic interface of the user application development, including the graphic interface of the user MATLAB scopes:

8. MATLAB/Simulink Simulink is an interactive tool for dynamics system modeling and analysis. User creates device model by means of standard blocks and carries out calculations. There are additional block libraries for different scopes as SimPowerSystems – electrotechnical devices modeling, SimMechanics – mechanical devices modeling, Digital Signal Processing Blockset – a digital device development, etc.

9. MatLab: Bus suspension Designing an automatic suspension system for a bus

10. MatLab/Simulink: r3 Dynamics model structure

11. DyMoLa DyMoLa is a complete tool for modeling and simulation of integrated and complex systems for use within automotive, aerospace, robotics processes and other applications. DyMoLa is based on Modelica, which is an object-oriented language for physical modeling.

12. DyMoLa: Examples Robot model animation built with the MultiBody library and the Modelica Standard library Vehicle model animation including transmission and engine

13. DyMoLa: Air-conditioning system

14. UNIVERSAL MECHANISM UM was designed to automate the analysis of mechanical objects connected by means of kinematical and force elements. UM widely applies computer graphics methods to display system’s 3D motion in equation process and to analyze the obtained results.

15. Train as a subsystem set UM: Subsystem technique

16. Motion animation UM: Solving direct and inverse kinematic problems

17. Robot “Puma” Spider robot Bipedal walking robot UM: Examples

18. MSC.ADAMS It allows to test virtual prototypes and optimize designs for performance, safety and comfort, without having to build and test numerous physical prototypes. Software package structure

19. work in a secure virtual environment, without the fear of losing critical data; work in a secure virtual environment, without the fear of losing critical data; reduce risk by getting better design information at every stage of the development process; reduce risk by getting better design information at every stage of the development process; analyze design changes much faster; analyze design changes much faster; improve product quality by exploring numerous design variations in order to optimize full-system performance; improve product quality by exploring numerous design variations in order to optimize full-system performance; vary the kinds of analyses being performed without having to modify physical instrumentation, test fixtures, and test procedures. vary the kinds of analyses being performed without having to modify physical instrumentation, test fixtures, and test procedures. ADAMS benefits:

20. ADAMS/Control - to analyze control systems; ADAMS/Control - to analyze control systems; ADAMS/Flex - to examine the impact of flexible parts; ADAMS/Flex - to examine the impact of flexible parts; ADAMS/Linear - to calculate natural frequencies and mode shapes of large systems. ADAMS/Linear - to calculate natural frequencies and mode shapes of large systems. ADAMS extensions:

21. Automobile engine Chassis work Orbit operations Racing car movement ADAMS: Examples

22. ADAMS: Multilink robot General view of a segment

23. ZMEELOC

24. ZMEELOC: Virtual model

25. ZMEELOC: Modeling results Direct course

26. Lateral course ZMEELOC: Modeling results

27. SEPTOPOD: SolidWorks model

28. SEPTOPOD: ADAMS model Rotary paw view

29. SEPTOPOD: Modeling results

30. The top view

31. Humanoid robot: Modeling results Movement model

32. Humanoid robot: Modeling results Movement model

33. Modeling is the first step to design, identify and control robots and it’s a powerful technique to improve quality and productivity. Most efficient algorithms proposed for these applications are based on good study of robot model parameters. These operations need to be carefully planned. Modeling is the first step to design, identify and control robots and it’s a powerful technique to improve quality and productivity. Most efficient algorithms proposed for these applications are based on good study of robot model parameters. These operations need to be carefully planned. Modern virtual prototyping tools have possibility to project dynamic and mechanic systems and allow to reach greater success in designing. Modern virtual prototyping tools have possibility to project dynamic and mechanic systems and allow to reach greater success in designing. The successful coordination and interaction of robots and software will require new system designs, communication protocols and interfaces. The successful coordination and interaction of robots and software will require new system designs, communication protocols and interfaces. CONCLUSION