Since 1963
ARTICLE
Simulation studies and experimental research of omnidirectional tracked vehicle
1
Wrocław University of Science and Technology, Wrocław, Poland
Submission date: 2023-10-30
Final revision date: 2023-12-11
Acceptance date: 2024-01-08
Online publication date: 2024-04-13
Publication date: 2024-04-30
Corresponding author
Mateusz Fiedeń
Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Wroclaw, Poland
Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Wroclaw, Poland
Journal of Theoretical and Applied Mechanics 2024;62(2):337-349
KEYWORDS
TOPICS
ABSTRACT
The article focuses on the control of an omni-tracked vehicle in a symmetrical, fully overlapping track system. The links of each crawler are equipped with a single rolling roller. Authors propose mathematical description to determine the direction and speed of movement of a single pair of omni-tracks with oppositely arranged rolling rollers. Numerical tests were carried out, the results of which were compared with the mathematical model. The numerical studies were then subjected to experimental verification, using a full-scale prototype. A dynamic direction correction algorithm was also proposed with its effectiveness proved experimentally
REFERENCES (19)
1.
Bae J., Kang N., 2016, Design optimization of a mecanum wheel to reduce vertical vibrations by the consideration of equivalent stiffness, Shock and Vibration, 2016.
2.
Bruton J., 2023, Triangle Tank Version 2, https://www.youtube.com/watch?... (online access 17.10.2023).
3.
Chen P., Mitsutake S., Isoda T., Shi T., 2002, Omni-directional robot and adaptive control method for off-road running, IEEE Transactions On Robotics And Automation, 18, 2.
4.
Engström J., Richloow E., Wickström A., 2010, Modeling of robotic hand for dynamic simulation, Bachelor Thesis, School of Industrial Engineering and Management (ITM), MMKB 2010:23.
5.
Fang Y., Zhang Y., Li N., Shang Y., 2020, Research on a medium-tracked omni-vehicle, Mechanical Sciences, 11, 137-152.
6.
Fiedeń M., Bałchanowski J., 2021, A mobile robot with omnidirectional tracks - design and experimental research, Applied Science, 11, 11778.
7.
Fiedeń M., Bałchanowski J., 2022, Testing the driving parameters of an omni-tracked robot (in Polish), Prace Naukowe Politechniki Warszawskiej, Elektronika, 255-263.
10.
Isoda T., Chen P., Mitsutake S., Toyota T., 1999, Roller-crawler type of omni-directional mobile robot for off-road running, Transactions of the Japan Society of Mechanical Engineers, ed. C, 65, 636.
11.
Mortensen Ernits R., Hoppe N., Kuznetsov I., Uriarte C., Freitag M., 2017, A new omnidirectional track drive system for off-road vehicles, Proceedings of the XXII International Conference on “Material Handling, Constructions and Logistics”.
12.
Pasini D., 2019, Modelling of mobile vehicles for simulation and control, Master Degree Thesis, Politecnico di Torino.
13.
Tadakuma K., Tadakuma R., Nagatani K., Yoshida K., Peters S., Udengaard M., Iagnemma K., 2008, Crawler vehicle with circular cross-section unit to realize sideways motion, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2422-2428.
14.
Tadakuma K., Takane E., Fujita M., Nomura A., Komatsu H., Konyo M., Tadokoro S., 2018, Planar omnidirectional crawler mobile mechanism - development of actual mechanical prototype and basic experiments, IEEE Robotics and Automation Letters, 3, 1.
15.
Taheri H., Zhao C., 2020, Omnidirectional mobile robots, mechanisms and navigation approaches, Mechanism and Machine Theory, 153.
16.
Takane E., Tadakuma K., Shimzu T., Hayashi S., Watanabe M., Kagami S., Nagatani K., Konyo M., Tadakoro S., 2019, Basic performance of planar omnidirectional crawler during direction switching using disturbance degree of ground evaluation method, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2732-2739.
17.
Yamada N., Komura H., Endo G., Nabae H., Suzumor, K., 2017, Spiral mecanum wheel achieving omnidirectional locomotion in step-climbing, Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 1285– 1290.
18.
Zhang Y., Huang T., 2015, Research on a tracked omnidirectional and cross-country vehicle, Mechanism and Machine Theory, 87, 18-44.
19.
Zhang Y., Yang H., Fang Y., 2018, Design and motion analysis of a novel track platform, Journal of Physics: Conference Series, 1074.
| 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.
