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1
Content available remote Model of Motion of the Mobile Platform With Three Wheel Drive
Jaskot A., Posiadała B.
Machine Dynamics Research
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2018
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Vol. 42, No. 1
35--43
EN
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.
2
Content available remote Strength Analysis of the Drive Unit of the Wheeled Mobile Platform Including the Contact Phenomena
Jaskot A., Posiadała B., Śpiewak S.
Machine Dynamics Research
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2017
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Vol. 41, No. 1
163--174
EN
Original structure of the powertrain, between the electric drive motor and the drive wheel, has been described in this work. The platform is designed in order to provide the analysis of dynamic interactions and their impact on motion which will be a base in defining the control settings of drive units of the powertrain and the steering system. Solution of the powertrain shown in the work provides the ability to uncouple selected drive units and to study motion trajectory in follower motion when the stub axles are immobilized. In this work the contact conditions between the ground and the tread with the simulation of the torque generated by centrifugal forces has been presented. The consequence of the adopted solution is a specific distribution of contact pressures in the contact zone between the tread and the ground and is included in the paper. In the article the FEM model used in the analysis has been introduced. The results obtained from the performed research contained in this publication will be used in developing analytical models with simulation studies about the four-wheeled mobile platform motion with taking into account the friction and slippage.
3
Content available remote Effect of Manner of Coupling Powertrain of Prototype Mobile Platform on Conditions of Rolling Friction Between Drive Wheel and Ground
Jaskot A., Posiadała B., Śpiewak S.
Machine Dynamics Research
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2017
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Vol. 41, No. 4
111--120
EN
The research subject is an author’s design solution of a wheel transporter. Original structure of a powertrain, between an electric drive motor and a drive wheel, has been described in this work. A design solution of the powertrain shown in the work provides the ability to uncouple selected drive units and study of a motion trajectory in follower motion when the stub axles are immobilized. The consequence of the adopted solution is a specific distribution of contact pressures in a contact zone between the drive wheel and the ground, which is dependent both on a load of the platform, but primarily on whether a wheel is coupled to the drive unit and will be the follower system. This effect appropriately reflects both a resistance of the rotational motion of the drive wheel and the resistances associated with positioning of a steering system of the platform. The article describes the FEM model used in the analysis. Results obtained from performed research, contained in this publication will be used in developing analytical models with simulation studies about the four-wheeled mobile platform motion with taking into account a friction and a slippage.
4
Content available remote Motion Modeling of the Four-Wheeled Mobile Platform Under Slippage Conditions
Jaskot A., Posiadała B., Śpiewak S.
Machine Dynamics Research
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2016
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Vol. 40, No. 2
43--53
EN
The work is dedicated to the designing motion of the four wheeled mobile platform under the unsteady conditions. The prototype of platform equipped with four drive modules is considered. The description of the platform’s dynamics has been proposed in the paper. The theoretical and calculation models of the platform have been determined. The prototype model is useful to examine different configurations of the drive wheels and to analyse the relations between the causes and effects of the motion. In order to build an universal algorithm in understanding the platform’s motion and in order to know limits of the motion parameters the solution of the problem is presented. The relations between friction forces, in longitudinal and transverse directions, and the active forces, with resistance forces are considered. The formulated initial problem has been solved numerically with use of the Runge-Kutta method of the fourth order. The sample simulation results are included in the paper.
5
Wpływ sił promieniowych dodatnio, ujemnie i prostopadle określonych na nośność statyczną łożyska wieńcowego jednorzędowego
Jaskot A., Śpiewak B., Śpiewak Sz.
Zeszyty Naukowe. Mechanika / Politechnika Opolska
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2015
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z. 106
54
PL
W artykule rozpatrzono problematykę wyznaczania nośności statycznej łożysk wieńcowych na przykładzie łożyska wieńcowego jednorzędowego. Opracowano modele umożliwiające wyznaczanie charakterystyk nośności statycznej, w których uwzględniono: podatność pierścieni łożyskowych, podatność strefy styku, siły napięcia wstępnego śrub mocujących, podatność struktur osadczych, warunki kontaktowe pomiędzy współpracującymi powierzchniami. Szczególną cechą opisanego modelu jest możliwość definiowania dowolnych kierunków działania sił promieniowych na łożysko. W oparciu o wykonany model wyznaczono zmienności przebiegów charakterystyk nośności statycznej z uwzględnieniem dwóch wzajemnie ortogonalnych kierunków działania sił promieniowych.
6
Content available remote Influence of Radial Forces Positively, Negatively and Perpendiculary Directed on the Static Carrying Capacity of the one Row Ball Slewing Bearing
Jaskot A., Śpiewak B., Śpiewak S.
Machine Dynamics Research
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2015
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Vol. 39, No. 3
33-47
EN
Problems of determining the static limiting load curves of slewing bearings where were taken into account all possible directions of radial forces have been presented in the paper. The object of the analysis was the one row ball slewing bearing, domestic production, which is used in excavator type F250H. In order to carry out the evaluation of functional properties of the bearing raceway the statistics methods were used. The parameters of the considering bearing and the values obtained of statistic quantity have been contained in the tables. Calculations were performed by using the finite elements method (FEM), ADINA program, analytical Eschmann's formulas and classical mechanics equations.
7
Content available Modeling of selected load-bearing structures using the truss and beam elements
Jaskot A., Śpiewak S.
Journal of Applied Mathematics and Computational Mechanics
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2015
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Vol. 14, nr 3
37--47
EN
The article presents the methodology of adjusting the usable properties of rodlike and beam elements for modeling the complex load-bearing structures. The basic object of consideration was the single-row slewing ball bearing. In this paper the mapping issues of usable qualities of the slewing bearings are summarized in relation to use of the finite element method. The emphasis is primarily on using the rod-like and beam elements for modeling the contact phenomena in the ball-raceway contact zone. In addition, ideas for use of the beam elements to modeling bearing bolts were presented.
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