| Issue |
MATEC Web Conf.
Volume 157, 2018
Machine Modelling and Simulations 2017 (MMS 2017)
|
|
|---|---|---|
| Article Number | 01008 | |
| Number of page(s) | 9 | |
| Section | Methods and systems in machine design | |
| DOI | https://doi.org/10.1051/matecconf/201815701008 | |
| Published online | 14 March 2018 | |
Analysis of motion of the three wheeled mobile platform
Institute of Mechanics and Machine Design Fundamentals, Czestochowa University of Technology, ul. Dąbrowskiego 73, 42-201, Częstochowa, Poland
* Corresponding author: bogdan.p@imipkm.pcz.pl
The work is dedicated to the designing motion of the three wheeled mobile platform under the unsteady conditions. In this paper the results of the analysis based on the dynamics model of the three wheeled mobile robot, with two rear wheels and one front wheel has been included The prototype has been developed by the author's construction assumptions that is useful to realize the motion of the platform in a various configurations of wheel drives, including control of the active forces and the direction of their settings while driving. Friction forces, in longitudinal and in the transverse directions, are considered in the proposed model. Relation between friction and active forces are also included. The motion parameters of the mobile platform has been determined by adopting classical approach of mechanics. The formulated initial problem of platform motion has been solved numerically using the Runge-Kutta method of the fourth order. Results of motion analysis with motion parameters values are determined and sample results are presented.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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