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Adaptive control of frictional contact models for nonholonomic wheeled mobile robot

100%

Vivekananthan R. , Karunamoorthy L.

2011

tom Vol. 5, No. 4

30-34

Mobility of the robot depends on the vehicle dimensions, locomotion principles and wheel characteristics. The function of the wheel is to carry the load and to produce the traction force. The main factors of wheel terrain interaction are bearing capacity of ground, traction performance of the wheel and geometry of terrain profile. In this paper the system and control concepts of the wheeled robot is discussed in more detail, within the framework provided by the wheel terrain contact model. The dynamic model of the wheeled robot is presented by considering contact forces of the wheel due to their relative motion of the wheel and contact plane. Finally, a dynamic relation is introduced and results are presented in terms of forces, torques and displacements related to wheel terrain interaction. To estimate the forces in the system arising from the interaction between a deformable wheel and rigid terrain using the software package Ansys 10.0. Simulations were performed using Matlab- Simulink program and the results are shown that the proposed controller can overcome the influences the effect of contact forces in order to achieve the desired trajectory.

Experimental evaluation of Al-Zn-Al2O3 composite on piston analysis by CAE tools

58%

Krishnan B. R. , Ramesh M.

Mechanics and Mechanical Engineering

2019

tom Vol. 23, nr 1

212--217

Today’s automotive designers and material specialists regard lighter vehicles for less fuel consumption (economy and ecology) and higher safety to passengers. Metal matrix composites have been a large area of interest. Aluminium composite is potentially applied in automotive and aerospace industries, because it has a superior strength to weight ratio and is a light weight metal with high temperature resistance. Composites containing hard oxides and ceramics (such as alumina) are preferred for high wear resistance along with increased hardness. In thiswork, alumina and zinc are reinforced in Al-LM25 alloy through stir casting process, where alumina is varied 6% and 12% in Al-5%Zn. Various mechanical analyses were conducted and the effect of wear with different percentage of alumina reinforcement was studied. The resulting properties are imported in a piston, modelled using solidworks, and analysed in ANSYS work bench. Imparting this new material for pistons could introduce deep design and improvements in engine operation of a vehicle.