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

Duda Sławomir, Gembalczyk Grzegorz, Klein Wojciech, Dudek Olaf

Journal of Theoretical and Applied Mechanics

2022

Vol. 60 nr 2

293--302

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.

Comparison of Formulas Obtained for Analytical and LQ Idea Approaches to Determine the Optimal Actuator Location in Active Multimodal Beam Vibration Reduction

Żołopa E., Brański A.

Archives of Acoustics

2014

Vol. 39, No. 4

599--603

In this paper an active multimodal beam vibration reduction via one actuator is considered. The optimal actuator distribution is analyzed with two methods: an exact mathematical principles and the LQ problem idea. It turned out that the same mathematical expressions are derived. Thus, these methods are equivalent.