Gazebo | Ignition | Community
Ask Your Question

Dynamic modelling of too heavy truck

asked 2020-07-07 11:16:24 -0600

adel gravatar image

Hello all,

I have to model an articulated truck dynamically.The truck is very heavy (> 15000 kg). I am doing that using xacro format but still have some problems.
1- How can one choose the right specifications of the wheels to be as possible realistic (mechanically the wheel can be represented by a spring and damper in parallel). actually I am using for that the parameters (mu, kp, kd) but I have no idea how to choose their values.
2- In the picture below, how can one define the spring/damper between the axle and the truck chassis? And how can model the shown "A_frame" ?

Thanks in advance.

image description

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

answered 2020-07-09 05:41:17 -0600

adel gravatar image

Regarding the second question:
To implement the spring/damper I had not to add new links to represent them, but in the revolute joint I used two dynamics properties "damping" and "friction". Thus, the behavior was got, but it is not perfect because the chosen value of damping and friction was chosen experimentally not using mathematic to get the real values. But still the problem of how to choose the values of the coefficient and properties for the wheels and the revolute joint

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower


Asked: 2020-07-07 11:16:24 -0600

Seen: 43 times

Last updated: Jul 09 '20