ИСТИНА

Omni wheel is defined as one having rollers along its rim. Respectively omni vehicle is one equipped by omni wheels. Dynamical computer model for the omni vehicle multibody system is implemented as a two-layer abstraction (class) in frame of the object-oriented paradigm. For this initially, dynamics of the free roller moving in field of gravity and having a unilateral contact constraint with horizontal rigid surface is modeled. The contact tracking algorithm for the roller turns out to be extremely simple and efficient. On the next layer of the model structure the omni wheel model is developed and debugged. Finally, the whole vehicle model is assembled as a container class having arrays of objects as instantiated classes really being models of omni wheels and joints. Dynamical properties of the resulting model are illustrated via numerical experiments. Their results were used to verify the multibody vehicle model under construction in compare with its ideal simplified model having known behavior.