ARTICLE
Design and simulation of a mobile platform with a semi-active suspension for uneven terrain
1
Wroclaw University of Science and Technology, Faculty of Mechanical Engineering, Department of Fundamentals of Machine Design and Mechatronic Systems, Wroclaw, Poland
Submission date: 2023-11-14
Acceptance date: 2023-12-04
Online publication date: 2024-03-17
Publication date: 2014-04-30
Corresponding author
Michał Olinski
Department of Fundamentals of Machine Design and Mechatronic Systems K61W10D07, Wroclaw University of Science and Technology, ul. Ignacego Łukasiewicza 7/9, 50-371, Wrocław, Poland
Department of Fundamentals of Machine Design and Mechatronic Systems K61W10D07, Wroclaw University of Science and Technology, ul. Ignacego Łukasiewicza 7/9, 50-371, Wrocław, Poland
Journal of Theoretical and Applied Mechanics 2024;62(2):279-292
KEYWORDS
TOPICS
robotic and control systemsstability and vibrations systemsdynamics of machines, vehicles and flying structurescomputational mechanics
ABSTRACT
The paper is focused on the design of a mobile wheeled platform able to move in uneven/
unstructured terrains and particularly intended for supporting the work in agriculture.
An independent double wishbone suspension is chosen to obtain a light and compact
structure. Furthermore, a semi-active suspension with magnetorheological dampers and the
ability to change the track of wheels is proposed to minimize uncontrolled vertical movements
of the platform. A dynamic model is formulated to carry out simulations including
various obstacles and cases with constant/controlled damping coefficients. As a final result,
a conceptual CAD model is built with selected motors and standardized parts.
REFERENCES (22)
1.
Ackerman E., 2015, Bosch’s Giant Robot Can Punch Weeds to Death, IEEE Spectrum, 0-1, https://spectrum.ieee.org/auto....
2.
Blundell M., Harty D., 2004, Active systems [In:] The Multibody Systems Approach to Vehicle Dynamics, Elsevier, New York, 441-451.
3.
Bruzzone L., Quaglia G., 2012, Review article: locomotion systems for ground mobile robots in unstructured environments, Mechanical Sciences, 3, 49-62.
4.
Ceccarelli M., et al., 2017, Heritage bot service robot assisting in cultural heritage, First IEEE International Conference on Robotic Computing, 440-445.
5.
Cholewa K., 2023, Design of a mobile platform for agricultural purposes (in Polish), Master Thesis, Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Wroclaw, Poland.
6.
Chołodowski J., 2023, Modelling and experimental identification of spring-damping properties of the off-road vehicle rubber tracks, rubber belts, and rubber-bushed tracks subjected to flexural vibrations, Journal of Terramechanics, 110, 101-122.
7.
Ecorobotix, 2019, Technology for environment: an innovative, autonomous and economical machine, https://www.ecorobotix.com/wpc... FlyerPres18-EN-1 RVB-1.pdf.
8.
Fischer D., Isermann R., 2003, Mechatronics Semi-Active and Active Vehicle Suspensions, Control Engineering Practice, 12, 11, 1353-1367
10.
Harrington B.D., Voorhees C., 2004, The challenges of designing the rocker-bogie suspension for the Mars exploration rover, Proceedings of the 37th Aerospace Mechanisms Symposium, 185-195.
11.
Husti I., 2019, Possibilities of using robots in agriculture, Hungarian Agricultural Engineering, 35, 59-67.
12.
Klockiewicz Z., Ślaski G., 2023, Comparison of vehicle suspension dynamic responses for simplified and advanced adjustable damper models with friction, hysteresis and actuation delay for different comfort-oriented control strategies, Acta Mechanica et Automatica, 17, 1, Special Issue “Machine Modeling and Simulations 2022”.
13.
Mohd Yamin A., Ab Talib M.H., Mat Darus I.Z., Mohd Nor Nur S., 2022, Magneto-rheological (MR) damper – parametric modelling and experimental validation for LORD RD 8040-1, Jurnal Teknologi, 84, 2, 27-34.
14.
Niu J., Wang H., Shi H., Pop N., Li D., Li S., Wu S., 2018, Study on structural modeling and kinematics analysis of a novel wheel-legged rescue robot, International Journal of Advanced Robotic Systems, 15, 1.
15.
Olinski M., Ziemba J., 2014, Hybrid quadruped robot – mechanical design and gait modelling, [In:] New Advances in Mechanisms, Transmissions and Applications, Mechanisms and Machine Science, Petuya V., et al. (Eds.), 17, 183-190.
16.
Raibert M.H., Blankespoor K., Nelson G.M., Playter R., 2008, BigDog, the rough-terrain quadruped robot, IFAC Proceedings Volumes, 41, 2, 10822-10825.
17.
Raper R.L., 2004, Agricultural Traffic Impacts on Soil, USDA-ARS-National Soil Dynamics Laboratory.
18.
Roldán J.J., del Cerro J., Garzón-Ramos D., Garcia-Aunon P., Garzón M., de León J., Barrientos A., 2018, Robots in agriculture: state of art and practical experiences, [In] Service Robots, Edited by A.J.R. Neves.
19.
Sarami S., 2009, Developement and Evaluation of a Semi-Active Suspension System for Full Suspension Tractors, Berlin.
20.
Shah R., Ozcelik S., Challoo R., 2012, Design of a highly maneuverable mobile robot, Procedia Computer Science, 12, 170-175.
21.
Shamshiri R.R., et al., 2018, Research and development in agricultural robotics: A perspective of digital farming, International Journal of Agricultural and Biological Engineering, 11, 4, 1-11.
22.
Sperzyński P., Szrek J., Muraszkowski A., 2018, Simulation research of a mobile robot walking on stairs (in Polish), Modelowanie Inżynierskie, 67.
| eISSN: | 2543-6309 |
| ISSN: | 1429-2955 |
We process personal data collected when visiting the website. The function of obtaining information about users and their behavior is carried out by voluntarily entered information in forms and saving cookies in end devices. Data, including cookies, are used to provide services, improve the user experience and to analyze the traffic in accordance with the Privacy policy. Data are also collected and processed by Google Analytics tool (more).
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
