ИСТИНА

A multibody dynamics model for an omni wheel keeping its vertical orientation permanently in time is under development and verification. Such vertical positioning of the wheel plane is guaranteed if for instance the wheel belongs to the larger multibody system, wheeled vehicle, rolling on the horizontal floor. Base classes developed earlier for the multibody applications with contacts involving friction are used. A generalization has been performed for the former model of contact tracking algorithm between roller and horizontal floor. This generalization includes non-zero angle between the roller axis of rotation and plane of the omni wheel. Contact tracking algorithm is implemented in two cases: (a) implicit and (b) explicit. Computer models for these cases (a) and (b) are currently ``embedded'' into the omni wheel model earlier verified. Thus for simplicity we analyze a multibody system comprising the wheel plus set of rollers being mounted along its circumference. A remainder of the vehicle is replaced by the wrench properly arranged in a way such that the wheel keeps its vertical orientation permanently in time. The experimental computations performed have shown that two algorithms of the contact tracking generate completely identical dynamics of the whole multibody system.