Shubhankar, The latest code in the ‘develop’ branch of the GitHub repository now passes all driver control inputs (steering, throttle, braking) to various vehicle subsystems. In particular, these are also passed to the Synchronize() method of ChDrivelineWV. To implement a skid steer vehicle, build a vehicle with no steering mechanism and implement a custom driveline which applies different torques to the left and right wheels based on steering input.
--Radu From: 'Radu Serban' via ProjectChrono <[email protected]> Sent: Tuesday, May 31, 2022 11:04 AM To: ProjectChrono <[email protected]> Subject: RE: [chrono] Skid steer simulation Hi Shubhankar, Chrono::Vehicle does not explicitly support skid steer vehicles (well, except tracked vehicles), but almost all pieces are available for you to model your own. A related example is in demo_VEH_ArticulatedVehicle<https://github.com/projectchrono/chrono/tree/develop/src/demos/vehicle/articulated_vehicle> which models a vehicle with an articulated chassis. But you are probably thinking of something like a Bobcat skid steer loader? In that case, you can use a rigid axle<https://api.projectchrono.org/wheeled_suspension.html#wheeled_suspension_ChRigidSuspension> on the front and a rigid pinned axle<https://api.projectchrono.org/wheeled_suspension.html#wheeled_suspension_ChRigidPinnedAxle> on the rear. The only missing piece is then a driveline that mechanically links the wheels on the same side. A simple custom model for such a driveline is easy to implement. I can think of one showstopper: the steering input is not propagated to the driveline subsystem. Since at least one other user mentioned skid steer vehicles in the past and because this would provide more flexibility, I will look into modifying the Chrono::Vehicle data flow to pass all vehicle control inputs to various vehicle subsystems. I will reply to this message when that is available. At that time, you should be able to implement a custom driveline for such skid steer vehicles. --Radu From: [email protected]<mailto:[email protected]> <[email protected]<mailto:[email protected]>> On Behalf Of Shubhankar Kulkarni Sent: Monday, May 30, 2022 9:45 PM To: ProjectChrono <[email protected]<mailto:[email protected]>> Subject: [chrono] Skid steer simulation Hello, I wished to know whether there is any pre-existing model in projectChrono that has a skid-steer mechanism for a wheeled platform?Is there a way to simulate it? Thanks & Regards, Shubhankar Kulkarni -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/6962c9d9-c3e9-4ec8-8b11-7cb7d0de2110n%40googlegroups.com<https://groups.google.com/d/msgid/projectchrono/6962c9d9-c3e9-4ec8-8b11-7cb7d0de2110n%40googlegroups.com?utm_medium=email&utm_source=footer>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/PH0PR06MB8237744A93844CD40865FE1BA7DC9%40PH0PR06MB8237.namprd06.prod.outlook.com<https://groups.google.com/d/msgid/projectchrono/PH0PR06MB8237744A93844CD40865FE1BA7DC9%40PH0PR06MB8237.namprd06.prod.outlook.com?utm_medium=email&utm_source=footer>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/PH0PR06MB823721F85480FACE5901FC92A7DE9%40PH0PR06MB8237.namprd06.prod.outlook.com.
