Temat: slipping - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Motion planning of wheeled mobile robots subject to slipping
Autorzy:: Zadarnowska, K.
Oleksy, A.
Powiązania:: https://bibliotekanauki.pl/articles/384800.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: dynamics
kinematics
motion planning
slipping effect
wheeled mobile robot
Opis:: Most dynamic models of wheeled mobile robots assume that the wheels undergo rolling without slipping, thus in general wheeled mobile robots are considered as nonholonomic systems. This paper deals with the problem of motion planning of mobile robots, whose nonholonomic constraints have been violated during the motion. The slipping phase is studied in details. A static model of interaction forces between wheels and ground is adopted by means of the singular perturbation approach [2]. A novel control theoretic framework for mobile robots subject to slipping is defined: both kinematics and dynamics of a mobile robot are modeled as a control system with outputs, the performance of a locally controllable system is nontrivial, the Jacobian of the mobile robot is defined in terms of the linear approximation to the system [36]. A novelty of the methodology consists in respecting of the analogy between the stationary and mobile robots and deriving performance characteristics from local controllability. In this paper we address the problem of motion planning by means of the Jacobian pseudo inverse algorithm. The effectiveness of the Jacobian pseudo inverse motion planning algorithm is demonstrated with reference to differential drive type robot (Pioneer 2DX) subject to slipping.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 49-58
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Modulation effect of vibration frequency of an unsprung heavy machine under the variable road adhesion conditions
Autorzy:: Chwastek, S.
Powiązania:: https://bibliotekanauki.pl/articles/244951.pdf
Data publikacji:: 2013
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: mobile heavy machines
unsprung vehicles
galloping effect
adhesion factor
slipping action
frequency modulation of vibration
Opis:: Mobile heavy machines as unsprung vehicles exhibit low dissipation ability, hence the ride even at low speeds may give rise to intensive vibration. Particularly dangerous situations occur when the road wheels break away from the road surface due to the ’galloping’ effect, being the result of excited vertical and angular vibration of the machine frame in the vertical plane of symmetry. That implies a major restriction on the ride velocity, which negatively impacts on the machine performance. Vibrations thus produced are mostly in the low-frequency range and hence energy dissipation in tyres will reduce the vibration intensity in a minor degree only. The motion of tired wheels will always involve some slipping. While investigating the feasibility of increasing the efficiency of the vibration reduction systems, one ought to take into account the variable adhesion of road wheels due to different dynamic loading acting on the vehicle axles during the ride. Observations of unsprung machines during the ride suggest the occurrence of self-excited vibration. Mobile machines constitute dynamic systems, which can be governed by nonlinear, sometimes non-stationary differential equations of motion. Their stability also depends on intensity of external vibrations. This study investigates the motion of unsprung mobile machines, taking into account the dynamic processes in the driving system under the conditions of the variable adhesion of road wheels. The model of interaction between a tired wheel and the terrain takes into account the relationship between the road wheel adhesion factor and the slipping action. Mathcad supported by Matlab-Simulink and in the frequency domain – simulations in the time domain. The purpose of the simulation procedure was to find the causes of the vibration modulation frequency and determine the conditions triggering the occurrence of self-excited vibrations. Simulations are supported by the analysis of motion stability.
Źródło:: Journal of KONES; 2013, 20, 4; 55-62
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Investigation of slide mechanism of tread during operation of railway wheel
Autorzy:: Vakulenko, I.
Proidak, S.
Perkov, O.
Powiązania:: https://bibliotekanauki.pl/articles/198359.pdf
Data publikacji:: 2016
Wydawca:: Politechnika Śląska. Wydawnictwo Politechniki Śląskiej
Tematy:: damage
railway wheel tread
hardness
slipping
work-hardening
softening
activation energy
uszkodzenie
bieżnik kół kolejowych
twardość
umocnienie odkształceniowe
mięknięcie
energia aktywacji
Opis:: Causes of reasons and explanation of mechanism forming damages of railway wheels tread were investigated. At slipping on contact surfaces wheelrail a between by simultaneous development of processes of work-hardening and softening metal determines the terms of origin damages of railway wheels tread were fixed.
Źródło:: Zeszyty Naukowe. Transport / Politechnika Śląska; 2016, 90; 185-194
0209-3324
2450-1549
Pojawia się w:: Zeszyty Naukowe. Transport / Politechnika Śląska
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Spatial model of the unsprung wheeled machine’s dynamic system
Autorzy:: Chwastek, S.
Powiązania:: https://bibliotekanauki.pl/articles/241952.pdf
Data publikacji:: 2014
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: spatial model
dynamic system
mobile heavy machines
unsprung vehicles
"galloping" effect
"snake meandering” effect
adhesion factor
slipping action
vibration
differential gear
Opis:: Mobile heavy machines as unsprung vehicles exhibit low dissipation ability, hence the ride even at low speeds may give rise to intensive vertical and angular vibration. Vibrations thus produced are mostly in the low-frequency range and hence energy dissipation in tires will reduce the vibration intensity in a minor degree only. Particularly dangerous situations occur when the road wheels break away from the road surface due to the ’galloping’ effect. Kinematic excitation acting on the wheels is mostly uncorrelated stochastic (random) processes, giving rise to the "snake meandering" effect. That implies a major restriction on the ride velocity, which negatively affects the machine performance. The motion of tired wheels will always involve certain slipping. While investigating the feasibility of increasing the efficiency of the vibration reduction systems, one ought to take into account the variable adhesion of road wheels due to different dynamic loading acting on the vehicle axles during the ride. This study investigates the motion of unsprung mobile machines, taking into account the dynamic processes in the driving system under the conditions of the variable adhesion of road wheels. The model of interaction between a tired wheel and the terrain takes into account the relationship between the road wheel adhesion factor and the slipping action, as well as the impacts of the differential gear on distribution of drive torque. The 3D (spatial) model of a backhoe loader is considered. It is a two-axle self-propelled machine on a wheeled chassis. The mathematical model constitutes nonlinear and non-stationary differential equations of motion. Their stability is therefore associated with vibration intensity. Simulations in the time domain were supported by Matlab-Simulink. The purpose of this study is to improve the safety features during the ride of mobile heavy machines, basing on the parametric optimization of the model.
Źródło:: Journal of KONES; 2014, 21, 2; 45-52
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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