Simulation research of motion of lightweight wheeled mobile robot on various types of soft ground : a case study

• Autorzy: Trojnacki Maciej , Dąbek Przemysław

Identyfikatory

DOI

10.14313/JAMRIS/4‐2023/26

• Języki publikacji: EN

Abstrakty

EN

A problem of influence of three types of soft ground on longitudinal motion of a lightweight four-wheeled mobile robot is considered. Kinematic structure, main design features of the robot and its dynamics model are described. A numerical model was elaborated to simulate the dynamics of the robot’s multi-body system and the wheel‐ground interaction, taking into account the soil deformation and stresses occurring on the circumference of the wheel in the area of contact with the deformable ground. Numerical analysis involving four velocities of robot motion and three cases of soil (dry sand, sandy loam, clayey soil) is performed. Within simulation research, the motion parameters of the robot, ground reaction forces and moments of force, driving torques, wheel sinkage and slip parameters of wheels were calculated. Aggregated research results as well as detailed results of selected simulations are shown and discussed. As a result of the research, it was noticed that wheel slip ratios, wheels’ sinkage and wheel driving torques increase with desired velocity of motion. Moreover, it was observed that wheels’ sinkage and driving torques are significantly larger for dry sand than for the other investigated ground types.

Słowa kluczowe

EN

lightweight wheeled mobile robot; longitudinal motion; deformable ground; dynamics model; tire-ground interaction; wheel slip; wheel sinkage; simulation studies

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2023
• Tom: Vol. 17, No. 4
• Strony: 8--16
• Opis fizyczny: Bibliogr. 19 poz., rys.

Twórcy

autor

Trojnacki Maciej

• Warsaw University of Technology, Faculty of Mechatronics, Institute of Micromechanics and Photonics, Boboli 8, 02-525 Warsaw, Poland

autor

Dąbek Przemysław

• ŁUKASIEWICZ Research Network-Industrial Research Institute for Automation and Measurements PIAP, Al. Jerozolimskie 202, 02-486 Warsaw, Poland

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).