Tuning of characteristics of dynamic driving suspensions in an autonomous robot with omnidirectional wheels

• Autorzy: Duda Sławomir , Gembalczyk Grzegorz , Klein Wojciech , Dudek Olaf

Identyfikatory

DOI

10.15632/jtam-pl/149415

• Języki publikacji: EN

Abstrakty

EN

The article presents results of a research and development work on a suspension of an autonomous mobile robot with omnidirectional wheels. At the beginning, the research object and requirements for suspensions in mobile platforms are discussed. In the following part, a computational model used in the optimization process is presented. An important issue was to determine kinematic excitations generated by omnidirectional wheels, which was identified experimentally and used in numerical calculations. The obtained results were experimentally verified by tests with a prototype suspension node which was mounted on the “vehicle quarters” test stand.

Słowa kluczowe

EN

passive suspensions; control of vibration; mobile robots

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2022
• Tom: Vol. 60 nr 2
• Strony: 293--302
• Opis fizyczny: Bibliogr. 23 poz., rys., tab.

Twórcy

autor

Duda Sławomir

• Silesian University of Technology, Faculty of Mechanical Engineering, Gliwice, Poland

autor

Gembalczyk Grzegorz

• Silesian University of Technology, Faculty of Mechanical Engineering, Gliwice, Poland

• https://orcid.org/0000-0003-2777-1799

autor

Klein Wojciech

• Silesian University of Technology, Faculty of Mechanical Engineering, Gliwice, Poland

autor

Dudek Olaf

• Silesian University of Technology, Faculty of Mechanical Engineering, Gliwice, Poland

Bibliografia

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