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Model of Motion of the Mobile Platform With Three Wheel Drive

Jaskot A., Posiadała B.

Machine Dynamics Research

2018

Vol. 42, No. 1

35--43

In this paper the results of the analysis based on the kinematics and the dynamics models of the three-wheeled mobile robot, with two rear wheels and one front wheel have been included. The prototype model has been developed by the author’s construction assumptions to realize the motion of the platform in a various configurations of wheel drives. The platform dynamical model has been described considering the slippage conditions during the motion of the platform. The motion parameters of the mobile platform have been determined by adopting classical approach of mechanics. The formulated initial problem has been solved numerically using the Runge-Kutta method of the fourth-order.