Vehicle System Dynamics
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ROboMObil Timeline

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The ROboMObil is DLR’s space-robotics driven-by-wire electro-mobile research platform for mechatronic actuators, vehicle dynamics control, human machine interfaces, AI-based and autonomous driving. Explore a more than ten-year timeline of research, hardware- and software-development. The potential of the ROboMObil is still being explored and the latest research results can always be found in our blog.

The ROboMObil’s innovative mechatronic chassis…

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The ROboMObil’s innovative mechatronic chassis is based on four identical Wheel Robots, each integrating a drive motor as well as braking, steering and damper systems. The operation of the Wheel Robots is coordinated by means of an intelligent central vehicle control. By virtue of the individual wheel steering, the ROboMObil exhibits an impressive manoeuvrability which even allows for driving sideways or rotating on the spot. This flexibility shows its full potential in urban or logistic contexts.

A ROboMObil Wheel Robot.

Research topics are methods and tools for modelling, simulation, and assessment of road vehicle dynamics as well as techniques for integrated chassis control and vehicle state estimation. These techniques are used, e.g., for a safe, precise and energy-efficient control of the ROboMObil’s motion. Further research activities comprise hybrid braking control for electric vehicles, which explores the use of real-time optimisation to exploit the combination of friction brake and electrical motor to improve the wheel slip control. Another research topic is the model based vertical dynamics control using semi-active dampers.

The ROboMObil can be operated fully manually, partially automated, or fully automatically. The vehicle’s desired motion can be commanded by the driver through a force-feedback sidestick with three degrees of freedom. Its path following control supports the latter modes by enabling the automatic following of a predefined path within constrained corridors.

Extended Maneuverability.

A platooning controller enables automated, safe following of preceding vehicles with a defined, speed dependent distance. Therefore, state information of the preceding vehicle is transmitted to the ROboMObil via Car2X communication.

Virtual Platooning.

Simulation tools play a central role for both the development and the validation of vehicle control functions. For this purpose, our virtual design and test environment provides complete detailed vehicle models using the object-oriented modelling language Modelica. In addition to multibody dynamics, these models also include sensors and electro-mechanical actuators. Hence, various domains, such as mechanics, electrics, and hydraulics, are combined in one model. Novel tool chains aim to automatically generate code for close-to-production electronic control units from the developed controllers.

In short, the ROboMObil provides a flexible platform for the research on integrated control and estimation algorithms for energy management and vehicle dynamics, together with the topics of autonomy and human-machine interfaces.

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Aug 14th 2009

Early design studies & innovation of the modular concept

Early design studies & innovation of the modular concept

In the beginning of the ROboMObil project different design concepts for the exterior representation of the vehicle were created. The design is reminiscent of the…

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Aug 17th 2009

Preparation of the mechanical suspension design

Preparation of the mechanical suspension design

The ROboMObil is an electro-mobility concept based on intelligent central control of four Wheel Robots, which integrate the drivetrain, brakes, steering and dampers. The Wheel…

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Feb 19th 2010

Manufacturing the ROboMObil’s body

Manufacturing the ROboMObil’s body

The reinforced carbonfiber body of the ROboMobil was manufactured based on the final design study. The underlying foam model was constructed first in CAD and…

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Apr 26th 2010

Alignment, measurements and undertaking ergonomic studies

Alignment, measurements and undertaking ergonomic studies

The monocoque structure of the ROboMObil was surveyed for the next production steps. The two identical axle modules which house the front and back double-wishbone…

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May 26th 2010

Chassis-to-body marriage and final assembly

Chassis-to-body marriage and final assembly

A special moment in every vehicle manufacturing process is the chassis-to-body marriage, in our case connecting the monocoque structure with the axle modules and the…

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Jun 4th 2010

Completion of the vehicle´s outer shell

Completion of the vehicle´s outer shell

The outer shell of the ROboMobil is made from carbon fiber reinforced plastics and covers the front and rear axle modules. It seamlessly connects to…

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Jul 15th 2010

Installing the high voltage battery

Installing the high voltage battery

The high voltage battery of the ROboMObil is a Li-ion battery with 90s1p cells and a nominal voltage of about 350 V. The battery pack…

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Oct 6th 2010

Finalising the sidestick´s position

Finalising the sidestick´s position

Final adjustments to the position of the sidestick inside the ROboMObil cockpit were applied considering the ergonomics of the driver. Additionally, the stick position was…

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Nov 30th 2010

Designing the Human-Machine-Interface (HMI)

Designing the Human-Machine-Interface (HMI)

The ROboMObil in its manual or semi-autonomous modes, e.g. path following or automated parking, is controlled by the force feedback sidestick. Further input can be…

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Mar 8th 2011

Manufacture of the camera roof box

Manufacture of the camera roof box

A new camera roof box was manufactured using the original clay mold of the driver cabin to ensure a perfect fit. The roof box is…

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Jun 26th 2012

Testing the steering mechanism on a steering test bench

https://vsdc.de/wp-content/uploads/2021/12/2012-05_ROMO-Lenksystempruefstand__1.mp4

The electro-mechanic steering assembly of the ROboMObil is a complex system consisting of a permanent magnet synchronous motor (PMSM), a strain wave gear (Harmonic Drive)…

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Jan 7th 2013

ROboMObil´s equipment with advanced semi-active dampers

ROboMObil´s equipment with advanced semi-active dampers

Measures were taken to facilitate later research on advanced vertical dynamics control concepts. The semi-active suspension system uses an external magnetic bypass valve to control…

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Feb 1st 2013

Conduction of braking test bench experiments

https://vsdc.de/wp-content/uploads/2021/12/2013-02_ROMO-braking-test-bench__1.mp4

The electro-hydraulic brake system of the ROboMObil is a complex system consisting of a permanent magnet synchronous motor (PMSM) and a ball screw mechanism actuating…

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Jul 8th 2015

Mounting large and narrow tires

Mounting large and narrow tires

The ROboMObil´s tires were exchanged with so-called large and narrow (L&N) tires. These tires are characterised by a reduced vertical stiffness, which leads to an…

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Feb 20th 2018

Installation of a hydraulic handbrake

Installation of a hydraulic handbrake

The safety of the ROboMObil was further increased by an additional handbrake articulating the mechanical brake actuators at the rear axle. The handbrake constitutes a…

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Aug 30th 2018

Installation of LED safety light

Installation of LED safety light

The roof mounted safety lights act as indication of the ROboMObil state, e.g. showing whether the high voltage battery system or the traction motors are…

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