22BRS1263​

Ramjan Khandelwal
Lab 2B, C, D

Two Wheeled Car

1.​ Open CoppeliaSim and create a new scene.

2.​ Add a Cuboid to represent the car body and adjust the dimensions (e.g., 0.5m length,
0.3m width, 0.1m height).
3.​ Add two Cylinders for the wheels, positioning them at the front and back. Set the
dimensions (e.g., diameter 0.1m, height 0.05m).
4.​ Select the chassis and the wheels, then group them into a single object (e.g., "Car").
5.​ Attach Revolute Joints to each wheel for rotation and enable motors on these joints to
allow the wheels to spin.
6.​ Optionally, use a Proximity Sensor or script to simulate car movement by applying force
or torque.
7.​ Add a Cuboid to represent the inclined surface and scale it (e.g., 1.0m long, 1.0m wide,
0.1m high).
8.​ Rotate the incline around the X-axis by 20 degrees to form the incline.
9.​ Place the car above the incline, ensuring it is not touching it.
10.​Ensure gravity is enabled in the scene properties.
11.​Run the simulation and let the car fall onto the inclined plane.
12.​Optionally, create a script to apply force or torque to the car’s wheels for movement (e.g.,
adjusting velocity).
13.​Run the simulation and observe the car rolling down the incline.
Three Wheeled Car
Open CoppeliaSim and create a new scene.
1.​ Add a Cuboid to represent the car body and adjust the dimensions (e.g., 0.5m length,
0.3m width, 0.1m height).
2.​ Add three Cylinders for the wheels, positioning them at the front, middle, and back. Set
the dimensions (e.g., diameter 0.1m, height 0.05m).
3.​ Select the chassis and the three wheels, then group them into a single object (e.g.,
"Car").
4.​ Attach Revolute Joints to each wheel for rotation and enable motors on these joints to
allow the wheels to spin.
5.​ Optionally, use a Proximity Sensor or script to simulate car movement by applying force
or torque.
6.​ Add a Cuboid to represent the inclined surface and scale it (e.g., 1.0m long, 1.0m wide,
0.1m high).
7.​ Rotate the incline around the X-axis by 20 degrees to form the incline.
8.​ Place the car above the incline, ensuring it is not touching it.
9.​ Ensure gravity is enabled in the scene properties.
10.​Run the simulation and let the car fall onto the inclined plane.
11.​Optionally, create a script to apply force or torque to the car’s wheels for movement (e.g.,
adjusting velocity).
12.​Run the simulation and observe the car rolling down the incline.
4 wheeled Car
1.​ Open CoppeliaSim and create a new scene.
2.​ Go to the Model Browser and choose Cuboid to add the car's chassis.
3.​ Resize the cuboid to form the car body (e.g., length: 0.5m, width: 0.3m, height: 0.1m).
4.​ Add a Cylinder for the first wheel (front-left wheel).
5.​ Resize the cylinder (e.g., diameter: 0.1m, height: 0.05m) to match the size of a wheel.
6.​ Position the front-left wheel at the appropriate location relative to the chassis (e.g., at the
front-left corner).
7.​ Duplicate the first wheel (front-left) to create the second wheel (front-right).
8.​ Position the second wheel at the front-right corner, adjusting the orientation if necessary.
9.​ Duplicate the first wheel again to create the third wheel (back-left).
10.​Position the third wheel at the back-left corner, adjusting its placement.
11.​Duplicate the first wheel once more to create the fourth wheel (back-right).
12.​Position the fourth wheel at the back-right corner.
13.​Select all the objects (the chassis and the four wheels), right-click, and choose Group to
group them together as a single object (e.g., "Car").
14.​Add a Cuboid for the inclined surface.
15.​Resize the cuboid to the desired incline surface size (e.g., length: 1.0m, width: 1.0m,
height: 0.1m).
16.​Rotate the incline cuboid around the X-axis by 20 degrees to create the incline.
17.​Position the incline cuboid in such a way that it forms the base for the car to drop onto
(place it below the car's starting position).
18.​Ensure that gravity is enabled in the scene by going to Scene Properties and verifying
the gravitational settings.
19.​Move the car above the incline, ensuring it’s not touching the incline, and adjust the
position so that the car is hovering over the incline.
20.​Select the car and adjust its initial orientation so that it faces down the incline (if
necessary).
21.​Set the car's initial position, ensuring it’s set just above the incline at an appropriate
height to simulate a "drop."
22.​Run the simulation to observe the car's behavior as it drops onto the incline and begins
to roll due to gravity.