Tuning of characteristics of dynamic driving suspensions in an autonomous robot with omnidirectional wheels
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Silesian University of Technology, Faculty of Mechanical Engineering, Gliwice, Poland
Sławomir Duda   

Department of Theoretical and Applied Mechanics, Silesian University of Technology, Akademicka 2A, 44-100, Gliwice, Poland
Submission date: 2022-01-19
Acceptance date: 2022-03-29
Online publication date: 2022-04-27
Publication date: 2022-04-30
Journal of Theoretical and Applied Mechanics 2022;60(2):293–302
The article presents results of a research and development work on a suspension of an autonomous mobile robot with omnidirectional wheels. At the beginning, the research object and requirements for suspensions in mobile platforms are discussed. In the following part, a computational model used in the optimization process is presented. An important issue was to determine kinematic excitations generated by omnidirectional wheels, which was identified experimentally and used in numerical calculations. The obtained results were experimentally verified by tests with a prototype suspension node which was mounted on the “vehicle quarters” test stand.
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