Simulation studies and experimental research of omnidirectional tracked vehicle

• Autorzy: Fiedeń Mateusz , Bałchanowski Jacek

Identyfikatory

DOI

10.15632/jtam-pl/185887

• Języki publikacji: EN

Abstrakty

EN

The article focuses on the control of an omni-tracked vehicle in a symmetrical, fully overlapping track system. The links of each crawler are equipped with a single rolling roller. Authors propose mathematical description to determine the direction and speed of movement of a single pair of omni-tracks with oppositely arranged rolling rollers. Numerical tests were carried out, the results of which were compared with the mathematical model. The numerical studies were then subjected to experimental verification, using a full-scale prototype. A dynamic direction correction algorithm was also proposed with its effectiveness proved experimentally

Słowa kluczowe

EN

kinematic; omnidirectional; omnitank; omnitracks; omnivehicle

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2024
• Tom: Vol. 62 nr 2
• Strony: 337--349
• Opis fizyczny: Bibliogr. 19 poz., rys., tab.

Twórcy

autor

Fiedeń Mateusz

• Wrocław University of Science and Technology, Wrocław, Poland

autor

Bałchanowski Jacek

• Wrocław University of Science and Technology, Wrocław, Poland

Bibliografia

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• 2. Bruton J., 2023, Triangle Tank Version 2, https://www.youtube.com/watch?v=rmvrlFp-qEU (online access 17.10.2023)
• 3. Chen P., Mitsutake S., Isoda T., Shi T., 2002, Omni-directional robot and adaptive control method for off-road running, IEEE Transactions On Robotics And Automation, 18, 2.
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• 5. Fang Y., Zhang Y., Li N., Shang Y., 2020, Research on a medium-tracked omni-vehicle, Mechanical Sciences, 11, 137-152.
• 6. Fiedeń M., Bałchanowski J., 2021, A mobile robot with omnidirectional tracks - design and experimental research, Applied Science, 11, 11778.
• 7. Fiedeń M., Bałchanowski J., 2022, Testing the driving parameters of an omni-tracked robot (in Polish), Prace Naukowe Politechniki Warszawskiej, Elektronika, 255-263.
• 8. Grabowiecki J., 1919, Vehicle Wheel, US patent 1305535.
• 9. https://opencv.org/ (online access 17.10.2023).
• 10. Isoda T., Chen P., Mitsutake S., Toyota T., 1999, Roller-crawler type of omni-directional mobile robot for off-road running, Transactions of the Japan Society of Mechanical Engineers, ed. C, 65, 636.
• 11. Mortensen Ernits R., Hoppe N., Kuznetsov I., Uriarte C., Freitag M., 2017, A new omnidirectional track drive system for off-road vehicles, Proceedings of the XXII International Conference on “Material Handling, Constructions and Logistics”.
• 12. Pasini D., 2019, Modelling of mobile vehicles for simulation and control, Master Degree Thesis, Politecnico di Torino.
• 13. Tadakuma K., Tadakuma R., Nagatani K., Yoshida K., Peters S., Udengaard M., Iagnemma K., 2008, Crawler vehicle with circular cross-section unit to realize sideways motion, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2422-2428.
• 14. Tadakuma K., Takane E., Fujita M., Nomura A., Komatsu H., Konyo M., Tadokoro S., 2018, Planar omnidirectional crawler mobile mechanism - development of actual mechanical prototype and basic experiments, IEEE Robotics and Automation Letters, 3, 1.
• 15. Taheri H., Zhao C., 2020, Omnidirectional mobile robots, mechanisms and navigation approaches, Mechanism and Machine Theory, 153.
• 16. Takane E., Tadakuma K., Shimzu T., Hayashi S., Watanabe M., Kagami S., Nagatani K., Konyo M., Tadakoro S., 2019, Basic performance of planar omnidirectional crawler during direction switching using disturbance degree of ground evaluation method, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2732-2739.
• 17. Yamada N., Komura H., Endo G., Nabae H., Suzumor, K., 2017, Spiral mecanum wheel achieving omnidirectional locomotion in step-climbing, Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 1285– 1290.
• 18. Zhang Y., Huang T., 2015, Research on a tracked omnidirectional and cross-country vehicle, Mechanism and Machine Theory, 87, 18-44.
• 19. Zhang Y., Yang H., Fang Y., 2018, Design and motion analysis of a novel track platform, Journal of Physics: Conference Series, 1074.

Uwagi

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