Simulation modules of encoders and electric motors when designing robotic systems

Simulation modules of encoders and electric motors when designing robotic systems

Arkady V. Klyuchikov
PhD in Technical Sciences, Saratov State University of Genetics, Biotechnology and Engineering named after N. I. Vavilov (FSBEI HE Vavilov University), Acting Head of the Department of Digital Process Management in the Agro-Industrial Complex, 4-3, pr. Stolypina, Saratov, 410003, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-8657-6486

Maxim S. Kuprin
Grimdark Technologies LLC, General Director, 31, 4th Simbirsky proezd, Saratov Region, Saratov, 410019, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-6183-092X

Received August 08, 2024

Abstract
The approaches used in the design of new robot configurations are considered. The necessity of introducing simulation modeling in the design of robots is substantiated. The goal is to reduce costs for the production of new configurations of mechatronic and robotic systems using simulation modules, including an encoder and a stepper motor. Methods for simulation modeling of encoders and stepper motors are defined. The characteristics of the domestic product RSMA for the design of simulation models of robots are given. Modules for simulating encoders and stepper motors have been developed. Scripts for modeling and elements for displaying additional information in the RSMA software package have been integrated. 3D models of devices were prepared to visualize operating functions in the program. The main properties and functions of classes in the C# language are described, as well as comments and instructions for using the results when carrying out calculations in a simulation environment. A laboratory stand was prepared and a full-scale experiment was carried out to control a stepper motor in accordance with the angle of rotation of the encoder. The obtained values of the rotation angle of the devices are compared with the results of a similar experiment in the RSMA simulation environment. The trajectories for further development of the software package have been determined.

Key words
Simulation modeling, mobile robotics, Unity, RSMA, software package, encoders, electric motors.

Acknowledgements
Implemented under contract No. 853ГССС15-L/81893 dated December 12, 2022 «Software package for designing mobile robot simulation systems» concluded with the fund for promoting the development of small enterprises in the scientific and technical field under the «Student Startup» program.

EDN
UXRBNH

Bibliographic description
Klyuchikov, A.V. and Kuprin, M.S. (2024), "Simulation modules of encoders and electric motors when designing robotic systems", Robotics and Technical Cybernetics, vol. 13, no. 1, pp. 50-56, EDN: UXRBNH. (in Russian).

UDC identifier
004.942

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