<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

Simulation Research of Motion of Lightweight Wheeled Mobile Robot on Various Types of Soft Ground – A Case Study

Warsaw University of Technology, Faculty of Mechatronics

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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...

Simulation Research of Motion of Lightweight Wheeled Mobile Robot on Various Types of Soft Ground – A Case Study

Publié en ligne: 14 mars 2024

Pages: 8 - 16

Reçu: 13 oct. 2023

Accepté: 27 nov. 2023

DOI: https://doi.org/10.14313/jamris/4-2023/26

Mots clés
Lightweight wheeled mobile robot, Longitudinal motion, Deformable ground, Dynamics model, Tire- ground interaction, Wheel slip, Wheel sinkage, Simulation studies

© 2023 Maciej Trojnacki et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Simulation Research of Motion of Lightweight Wheeled Mobile Robot on Various Types of Soft Ground – A Case Study

Publié en ligne: 14 mars 2024

Pages: 8 - 16

Reçu: 13 oct. 2023

Accepté: 27 nov. 2023

DOI: https://doi.org/10.14313/jamris/4-2023/26

Mots clésLightweight wheeled mobile robot, Longitudinal motion, Deformable ground, Dynamics model, Tire- ground interaction, Wheel slip, Wheel sinkage, Simulation studies

© 2023 Maciej Trojnacki et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
Lightweight wheeled mobile robot, Longitudinal motion, Deformable ground, Dynamics model, Tire- ground interaction, Wheel slip, Wheel sinkage, Simulation studies