Design and simulation of a mobile platform with a semi-active suspension for uneven terrain

• Autorzy: Olinski Michał , Cholewa Kacper

Identyfikatory

DOI

10.15632/jtam-pl/184231

• Języki publikacji: EN

Abstrakty

EN

The paper is focused on the design of a mobile wheeled platform able to move in uneven/ unstructured terrains and particularly intended for supporting the work in agriculture. An independent double wishbone suspension is chosen to obtain a light and compact structure. Furthermore, a semi-active suspension with magnetorheological dampers and the ability to change the track of wheels is proposed to minimize uncontrolled vertical movements of the platform. A dynamic model is formulated to carry out simulations including various obstacles and cases with constant/controlled damping coefficients. As a final result, a conceptual CAD model is built with selected motors and standardized parts.

Słowa kluczowe

EN

robotics; agriculture; wheeled robot; wishbone suspension; magnetorheological damper

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2024
• Tom: Vol. 62 nr 2
• Strony: 279--292
• Opis fizyczny: Bibliogr. 22 poz., rys., tab.

Twórcy

autor

Olinski Michał

• Wroclaw University of Science and Technology, Faculty of Mechanical Engineering, Department of Fundamentals of Machine Design and Mechatronic Systems, Wroclaw, Poland

• https://orcid.org/0000-0001-9422-3827

autor

Cholewa Kacper

• Wroclaw University of Science and Technology, Faculty of Mechanical Engineering, Department of Fundamentals of Machine Design and Mechatronic Systems, Wroclaw, Poland

Bibliografia

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• 4. Ceccarelli M., et al., 2017, Heritage bot service robot assisting in cultural heritage, First IEEE International Conference on Robotic Computing, 440-445.
• 5. Cholewa K., 2023, Design of a mobile platform for agricultural purposes (in Polish), Master Thesis, Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Wroclaw, Poland.
• 6. Chołodowski J., 2023, Modelling and experimental identification of spring-damping properties of the off-road vehicle rubber tracks, rubber belts, and rubber-bushed tracks subjected to flexural vibrations, Journal of Terramechanics, 110, 101-122.
• 7. Ecorobotix, 2019, Technology for environment: an innovative, autonomous and economical machine, https://www.ecorobotix.com/wpcontent/uploads/2017/02/ECOX FlyerPres18-EN-1 RVB-1.pdf.
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• 12. Klockiewicz Z., Ślaski G., 2023, Comparison of vehicle suspension dynamic responses for simplified and advanced adjustable damper models with friction, hysteresis and actuation delay for different comfort-oriented control strategies, Acta Mechanica et Automatica, 17, 1, Special Issue “Machine Modeling and Simulations 2022”.
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• 16. Raibert M.H., Blankespoor K., Nelson G.M., Playter R., 2008, BigDog, the rough-terrain quadruped robot, IFAC Proceedings Volumes, 41, 2, 10822-10825.
• 17. Raper R.L., 2004, Agricultural Traffic Impacts on Soil, USDA-ARS-National Soil Dynamics Laboratory.
• 18. Roldán J.J., del Cerro J., Garzón-Ramos D., Garcia-Aunon P., Garzón M., de León J., Barrientos A., 2018, Robots in agriculture: state of art and practical experiences, [In] Service Robots, Edited by A.J.R. Neves.
• 19. Sarami S., 2009, Developement and Evaluation of a Semi-Active Suspension System for Full Suspension Tractors, Berlin.
• 20. Shah R., Ozcelik S., Challoo R., 2012, Design of a highly maneuverable mobile robot, Procedia Computer Science, 12, 170-175.
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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).