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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.

Developing a test site for testing the suspension of vehicles with omnidirectional wheels

Duda Sławomir, Dudek Olaf, Gembalczyk Grzegorz, Machoczek Tomasz

Vibrations in Physical Systems

2020

Vol. 31, nr 3

art. no. 2020304

The paper presents a test site for determining the excitations that occur as a result of the contact between the omnidirectional wheel and the road and affect the single suspension column in motor vehicles. The specific nature of these excitations during the movement of omnidirectional wheels is caused by the irregular envelope of the wheel. The proposed test site enables to determine the vertical displacements of the wheel that is rolling along the paving of the road. The conducted experiment demonstrates that the test site was constructed correctly.