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

Trojnacki Maciej, Dąbek Przemysław

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 4

8--16

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.

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A Semi-Empirical Model of the Wheel-Soil System

Tarkowski P.

Advances in Science and Technology. Research Journal

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2021

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Vol. 15, no 4

93--100

EN

The article presents a proposal of a semi-empirical model of a wheel – soil system. Measurements of the values characterizing this cooperation were carried out with the use of a measuring and test stand, consisting of the SST sensor for measuring the soil stress components and a dynamometer for measuring forces acting on the road wheel. The research was carried out on three different soils: sandy, loess and peat. Graphs showing the correlation between forces and stresses in the substrate were obtained. It was observed the influence of soil type and other parameters on the type and course of the curves in these graphs.

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Numeryczna identyfikacja wpływu podłoża odkształcalnego na proces sprzężenia pomiędzy kołem napędowym a gąsienicą elastomerową

Czabanowski R.

TTS Technika Transportu Szynowego

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2012

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R. 19, nr 9

1889--1898, CD

PL

W artykule dokonano analizy oddziaływania podłoża odkształcalnego na wielkość przenoszonego momentu napędowego pomiędzy kołem napędowym a gąsienicą elastomerową. Wykazano, że oddziaływanie podłoża odkształcalnego, wskutek dodatkowych nacisków na łuku opasania koła napędowego może, w pewnych warunkach, znacząco zwiększać moment przenoszony przez sprzężenie cierne koła napędowego z gąsienicą elastomerową. W analizie uwzględniono ograniczoną przydatność modelu Eulera do opisu przenoszenia momentu pomiędzy kołem napędowym z podatną okładziną elastomerową a gąsienicą elastomerową.

EN

The article includes the analysis of deformable ground influence on the volume of driving moment transmitted between a drive pulley and elastomeric track. It has been demonstrated that the influence of deformable ground, as a result of additional pressures working on wrap of a drive pulley may, in some circumstances, considerably increase the moment transmitted by means of friction feedback of a drive pulley with elastomeric track. Increase of driving moment may be higher than 50%. The analysis includes limited applicability of Euler and Entelwein’s law in the description of transmitting the moment between a drive pulley with elastomeric lining and elastomeric track.