CONTROL-CENTRIC SIMULATOR FOR MECHATRONICS DESIGN Case Study: Gyroscopically Stabilized Single Wheel Robot


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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic


eISSN: 1178-5608



VOLUME 2 , ISSUE 2 (June 2009) > List of articles

CONTROL-CENTRIC SIMULATOR FOR MECHATRONICS DESIGN Case Study: Gyroscopically Stabilized Single Wheel Robot

Zhu Zhen / A. Al-Mamun / Myint Phone Naing

Keywords : Gyrobot, ADAMS, Single wheel robot, Dynamic simulation

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 2, Issue 2, Pages 190-199, DOI:

License : (CC BY-NC-ND 4.0)

Published Online: 02-November-2017



A 3-Dimensional simulation platform developed as an aid for designing complex mechatronics system is presented in this paper. It uses ADAMS for simulation with animation of the dynamic behavior of the mechanism whose parts are drawn using a 3-D drawing software e.g., SolidWorks. The overall simulation platform integrates the 3-D simulator ADAMS with control design software MATLAB. This integration allows the designer to adopt a control-centric approach for designing complex mechanical structure to be used in a mechatronics system. Dynamic analysis of single wheel robot is used in this paper as an example to illustrate its uses. The simulating environment can easily be extended to any complex mechanical system simply by altering SolidWorks drawings.

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