Simulation Research of Motion of Lightweight Wheeled Mobile Robot on Various Types of Soft Ground – a Case Study
Maciej Trojnacki,
Przemysław Dąbek
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 anal… Show more
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