Dynamic modeling of the extended mobile robot: Composed N parallel axles, suspension system, and wheels slippage

Abstract

In this study, the new mobile robot structure with N parallel axles was designed and developed, as well as its motion equations derived. It uses several parallel axes, which increase its mobility at di erent surface conditions compared to similar ones. The number of parallel axes in such robotic systems makes studies of the e ect of slip mandatory due to the increase in the wheels' contact area. These e ects make a di erence in the mobile robot kinematic constraints equations. On the other hand, added parallel axels prepare the capability for motion on rough and uneven surfaces. But the mobile platform requires a suspension system to reduce the e ects of oscillations due to the oor. Finally, the dynamics model of a mobile robot obtains by considering the e ect of wheels' slips, suspension, and parallel axles using Lagrange equations. The concluded model is simulated for a two-axis mobile robot with four wheels in di erent surface conditions. It can be seen that the deviation of the robot is eminent, besides that the wheel's slips a ect the system performance based on the oor conditions. Consequently, the robot deviation on ice is less than that on loose gravel, while the mentioned deviation on loose gravel is twice.