Abstract
The article presents results of a research and development work on a suspension of an autonomous mobile robot with omnidirectional wheels. At the beginning, the research object and requirements for suspensions in mobile platforms are discussed. In the following part, a computational model used in the optimization process is presented. An important issue was to determine kinematic excitations generated by omnidirectional wheels, which was identified experimentally and used in numerical calculations. The obtained results were experimentally verified by tests with a prototype suspension node which was mounted on the "vehicle quarters" test stand.
| Original language | English |
|---|---|
| Pages (from-to) | 293-302 |
| Number of pages | 10 |
| Journal | Journal of Theoretical and Applied Mechanics |
| Volume | 60 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2022 |
Keywords
- control of vibrations
- mobile robots
- passive suspensions
ASJC Scopus subject areas
- Mechanical Engineering
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