Stability of the Rectilinear Motion of an Omni Vehicle with Consideration of Wheel Roller Inertia
The dynamics of a mobile vehicle with three omni wheels is considered for the case when the vehicle moves on a fixed perfectly rough plane by inertia. In order to study the effect of wheel roller inertia on the stability of the rectilinear motion of the vehicle, the fore wheel is modeled by the foll...
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| Veröffentlicht in: | Moscow University mechanics bulletin 2018-11, Vol.73 (6), p.145-148 |
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| container_title | Moscow University mechanics bulletin |
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| creator | Moiseev, G. N. Zobova, A. A. |
| description | The dynamics of a mobile vehicle with three omni wheels is considered for the case when the vehicle moves on a fixed perfectly rough plane by inertia. In order to study the effect of wheel roller inertia on the stability of the rectilinear motion of the vehicle, the fore wheel is modeled by the following rigid bodies: a wheel disk and a supporting roller such that the roller does not slip with respect to the plane. The rear wheels are modeled by disks slipping without friction in the direction perpendicular to their planes (an inertialess model of an omni wheel). We propose some dynamic equations of motion of the vehicle in the form of Tatarinov’s laconic equations for systems with differential constraints. These equations are related to the dynamic equations obtained for a vehicle with three inertialess omni wheels. The stability of rectilinear motions is analyzed. |
| doi_str_mv | 10.3103/S0027133018060043 |
| format | Article |
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We propose some dynamic equations of motion of the vehicle in the form of Tatarinov’s laconic equations for systems with differential constraints. These equations are related to the dynamic equations obtained for a vehicle with three inertialess omni wheels. 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A.</creatorcontrib><collection>CrossRef</collection><jtitle>Moscow University mechanics bulletin</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Moiseev, G. N.</au><au>Zobova, A. A.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Stability of the Rectilinear Motion of an Omni Vehicle with Consideration of Wheel Roller Inertia</atitle><jtitle>Moscow University mechanics bulletin</jtitle><stitle>Moscow Univ. Mech. Bull</stitle><date>2018-11-01</date><risdate>2018</risdate><volume>73</volume><issue>6</issue><spage>145</spage><epage>148</epage><pages>145-148</pages><issn>0027-1330</issn><eissn>1934-8452</eissn><abstract>The dynamics of a mobile vehicle with three omni wheels is considered for the case when the vehicle moves on a fixed perfectly rough plane by inertia. In order to study the effect of wheel roller inertia on the stability of the rectilinear motion of the vehicle, the fore wheel is modeled by the following rigid bodies: a wheel disk and a supporting roller such that the roller does not slip with respect to the plane. The rear wheels are modeled by disks slipping without friction in the direction perpendicular to their planes (an inertialess model of an omni wheel). We propose some dynamic equations of motion of the vehicle in the form of Tatarinov’s laconic equations for systems with differential constraints. These equations are related to the dynamic equations obtained for a vehicle with three inertialess omni wheels. The stability of rectilinear motions is analyzed.</abstract><cop>Moscow</cop><pub>Pleiades Publishing</pub><doi>10.3103/S0027133018060043</doi><tpages>4</tpages></addata></record> |
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| ispartof | Moscow University mechanics bulletin, 2018-11, Vol.73 (6), p.145-148 |
| issn | 0027-1330 1934-8452 |
| language | eng |
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| source | SpringerNature Journals |
| subjects | Brief Communications Classical Mechanics Differential equations Disks Equations of motion Inertia Mathematical models Motion stability Physics Physics and Astronomy Rigid structures Stability analysis Vehicle wheels |
| title | Stability of the Rectilinear Motion of an Omni Vehicle with Consideration of Wheel Roller Inertia |
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