Dynamics modelling of the four-wheeled mobile platform

This paper considers the coupled kinematic and dynamic models of a mobile crane. A full description of boom and load movement has been provided as a response of the system to the influence of kinematic forces. The linear system model was treated as rigid, and the carried load as a nondeformed static body. To describe the position of said load, Bryant angles were used. The dynamic model includes the impact of external forces (wind pressure) while load carrying and positioning. Algorithm and calculation software were developed to enable dynamic phenomena analysis during both a work cycle and free movement of said load. The initial problem was solved by means of the ode45 calculation procedure in the Matlab software based on the Runge–Kutta 4th Order Method. The work presents exemplary results of load movement simulation with respect to various wind velocities, selected on the basis of guidelines from Poland’s standards regarding safe operation of mechanical equipment.

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“…The movement of the load as the movement of a rigid body is described by the system of two vector equations [3,20,21]:…”

Section: Equations Of Motion Of the Main Systemmentioning

confidence: 99%

Impact of Wind on the Movement of the Load Carried by Rotary Crane

2019

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“…The mathematical description of dynamics in a planar motion has been presented in previous work [4]. The model of the dynamics has been developed with taking into account the description of the coordinates transformation.…”

Section: Fig 3 Drive Unit With Force Distribution During Motionmentioning

confidence: 99%

“…The description of motion of the three wheeled mobile platform has been presented in [5]. The preliminary studies of the four wheeled mobile platform have been conducted, and the results have been gathered in [4]. The research about systems such as wheeled mobile robots have been performed by scientists representing different point of view.…”

Section: Introductionmentioning

confidence: 99%

Dynamics of the mobile platform with four wheel drive

Jaskot

Posiadała

2019

MATEC Web Conf.

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The dynamics problem of motion of the mobile platform with four wheel drive under the unsteady conditions have been formulated and analysed. The mobile platform prototype have been equipped with four independently driven and steered electric drive units.The theoretical model have been formed for the proposed design concept of the platform. The relations between friction forces in longitudinal and transverse directions in reference to the active forces have been considered. The analysis of the motion parameters for different configurations of the wheel positions has been included. The formulated initial problem has been numerically solved by using the Runge-Kutta method of the fourth order. The sample simulation results for different configurations of the platform elements during its motion have been included and the conclusions have been formulated.

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“…The model has been made on the basis of the prototype model of the four wheeled mobile platform described in [8]. A modular design is useful in analysing every possible position of the platform and its wheels.…”

Section: Model Of the Three Wheeled Mobile Platformmentioning

confidence: 99%

Analysis of motion of the three wheeled mobile platform

Jaskot

Posiadała

2018

MATEC Web Conf.

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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.

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Dynamics modelling of the four-wheeled mobile platform

Cited by 14 publications

References 9 publications

Impact of Wind on the Movement of the Load Carried by Rotary Crane

Impact of Wind on the Movement of the Load Carried by Rotary Crane

Dynamics of the mobile platform with four wheel drive

Analysis of motion of the three wheeled mobile platform

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