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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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Longitudinal movement modeling and simulation for hybrid underwater glider

Latifah Ayu, Ramelan Agus, Lubis Dini Hariani Fitri, Trilaksono Bambang Riyanto, Hidayat Egi Muhammad Idris

Diagnostyka

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2023

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Vol. 24, No. 1

art. no. 2023106

EN

An autonomous underwater vehicle is a vehicle that can move in water, which is also known as an unmanned undersea vehicle. One type is the hybrid underwater glider where the vehicle is designed in such a way that it is able to carry out missions in the water with less power consumption so that it can last a long time in carrying out missions. In this research, a mathematical design is carried out in the form of a nonlinear model with the aim of being able to produce a model in the longitudinal movement of the HUG vehicle which will be tested limited to a simulation using the MATLAB/Simulink program. The parameters used in the model for this longitudinal movement are obtained by the computational fluid dynamics method so that it has been simulated with various movements according to the mission of the vehicle. In the simulation, input is given in the form of variations in the value of the actuator force to be able to carry out movements according to the mission and the simulation is open loop so that the vehicle's response is in the form of position and speed of translation and rotation.

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Numerical and experimental study on seakeeping performance of a high-speed trimaran with T-foil in head waves

Li Ang, Li Yunbo

Polish Maritime Research

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2019

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nr 3

65--77

EN

The longitudinal motion characteristics of a slender trimaran equipped with and without a T-foil near the bow are investigated by experimental and numerical methods. Computational fluid dynamics ( CFD) method is used in this study. The seakeeping characteristics such as heave, pitch and vertical acceleration in head regular waves are analyzed in various wave conditions. Numerical simulations have been validated by comparisons with experimental tests. The influence of large wave amplitudes and size of T-foil on the longitudinal motion of trimaran are analyzed. The present systematic study demonstrates that the numerical results are in a reasonable agreement with the experimental data. The research implied that the longitudinal motion response values are greatly reduced with the use of T-foil.

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Badania symulacyjne i doświadczalne ruchu wzdłużnego robota czterokołowego na piasku

Trojnacki M., Dąbek P.

Mechanik

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2016

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R. 89, nr 10

1282--1284

PL

Praca dotyczy badań ruchu wzdłużnego mobilnego robota czterokołowego na piasku w zależności od zadanej prędkości. Omówiono konstrukcję robota oraz przyjętą metodykę modelowania. Zaprezentowano wyniki badań symulacyjnych i doświadczalnych ruchu robota.

EN

Paper concerns the study of longitudinal motion of a four-wheeled mobile robot on sand for various desired velocities. Design of the robot and assumed modeling methodology were described. Results of simulation and experimental research of robot motion were presented.