Determination of the kinematic excitation originating from the irregular envelope of an omnidirectional wheel

Sławomir Duda; Olaf Dudek; Grzegorz Gembalczyk; Tomasz Machoczek

doi:10.3390/s21206931

Determination of the kinematic excitation originating from the irregular envelope of an omnidirectional wheel

Department of Theoretical and Applied Mechanics (RMT/RMT3)

Innovator sp. z o.o.

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

This paper describes a test stand for determining the kinematic excitation originating from the contact between a vehicle’s wheel and the ground, thus acting on the single suspension upright of the vehicle. This excitation is unique to the movement of omnidirectional wheels and originates from the irregular envelope of the wheel. The presented attitude enables the vertical displacement of the wheel’s axis rolling on a horizontal surface to be determined. This work includes experimental results considering different wheel orientations against the direction of movement.

Original language	English
Article number	6931
Journal	Sensors
Volume	21
Issue number	20
DOIs	https://doi.org/10.3390/s21206931
Publication status	Published - 1 Oct 2021

Keywords

Mobile robots
Omnidirectional wheel
Vibration measurement system

ASJC Scopus subject areas

Analytical Chemistry
Information Systems
Atomic and Molecular Physics, and Optics
Biochemistry
Instrumentation
Electrical and Electronic Engineering

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10.3390/s21206931

Cite this

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abstract = "This paper describes a test stand for determining the kinematic excitation originating from the contact between a vehicle{\textquoteright}s wheel and the ground, thus acting on the single suspension upright of the vehicle. This excitation is unique to the movement of omnidirectional wheels and originates from the irregular envelope of the wheel. The presented attitude enables the vertical displacement of the wheel{\textquoteright}s axis rolling on a horizontal surface to be determined. This work includes experimental results considering different wheel orientations against the direction of movement.",

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T1 - Determination of the kinematic excitation originating from the irregular envelope of an omnidirectional wheel

AU - Duda, Sławomir

AU - Dudek, Olaf

AU - Gembalczyk, Grzegorz

AU - Machoczek, Tomasz

PY - 2021/10/1

Y1 - 2021/10/1

N2 - This paper describes a test stand for determining the kinematic excitation originating from the contact between a vehicle’s wheel and the ground, thus acting on the single suspension upright of the vehicle. This excitation is unique to the movement of omnidirectional wheels and originates from the irregular envelope of the wheel. The presented attitude enables the vertical displacement of the wheel’s axis rolling on a horizontal surface to be determined. This work includes experimental results considering different wheel orientations against the direction of movement.

AB - This paper describes a test stand for determining the kinematic excitation originating from the contact between a vehicle’s wheel and the ground, thus acting on the single suspension upright of the vehicle. This excitation is unique to the movement of omnidirectional wheels and originates from the irregular envelope of the wheel. The presented attitude enables the vertical displacement of the wheel’s axis rolling on a horizontal surface to be determined. This work includes experimental results considering different wheel orientations against the direction of movement.

KW - Mobile robots

KW - Omnidirectional wheel

KW - Vibration measurement system

UR - https://www.scopus.com/pages/publications/85117204183

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DO - 10.3390/s21206931

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JO - Sensors

JF - Sensors

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M1 - 6931

ER -

Determination of the kinematic excitation originating from the irregular envelope of an omnidirectional wheel

Abstract

Keywords

ASJC Scopus subject areas

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