Analysis of motion of the three wheeled mobile platform

Abstract

The work is dedicated to the designing motion of the three wheeled mobile platform under the unsteady conditions. In this paper the results of the analysis based on the dynamics model of the three wheeled mobile robot, with two rear wheels and one front wheel has been included The prototype has been developed by the author's construction assumptions that is useful to realize the motion of the platform in a various configurations of wheel drives, including control of the active forces and the direction of their settings while driving. Friction forces, in longitudinal and in the transverse directions, are considered in the proposed model. Relation between friction and active forces are also included. The motion parameters of the mobile platform has been determined by adopting classical approach of mechanics. The formulated initial problem of platform motion has been solved numerically using the Runge-Kutta method of the fourth order. Results of motion analysis with motion parameters values are determined and sample results are presented.

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

“…An exact dynamic model for the motors used in the joints of the wheels to obtain more accurate motion equations for the system. Future research will use these equations to control the robot using Runge-Kutta-based [27] solution techniques.…”