Abstract
A simulation model of a mobile robot is presented in the chapter. The robot is equipped with four track systems, wrapped around four movable and independently driven track holders. Driving torques are transmitted to the track systems and track holders via speed reducers. The study is focused on friction effects in gearing, and especially on the self-locking properties. A simplified mathematical model of friction in speed reducers is presented. The model is based on the Coulomb friction law and exploits the analogy between reducers and wedge mechanisms. This friction model is implemented in a general purpose simulation software in which the entire tracked mobile robot is modelled. A multibody model of the complete robot is briefly described. Simulation results obtained for different friction levels, varying from friction absence to friction beyond the self-locking limit, are compared and discussed. The robot motors are also modelled and requirements for electric power in various operating conditions are estimated.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Frączek J, Wojtyra M (2011) On the unique solvability of a direct dynamics problem for mechanisms with redundant constraints and Coulomb friction in joints. Mech Mach Theory 46:312–334
Holmes DG, Lipo TA (2003) Pulse width modulation for power converters: principles and practice. Wiley-IEEE Press, New Jersey
Hughes A (2006) Electric motors and drives: fundamentals, types and applications, 3rd edn. Newnes, Oxford
Krause PC (1986) Analysis of electric machinery. McGraw-Hill, New York
Leonesio M, Bianchi G (2009) Self-locking analysis in closed kinematic chains. Mech Mach Theory 44:2038–2052
Ogata K (2009) Modern control engineering, 5th edn. Prentice Hall, New Jersey
Olędzki AA (1995) Modeling and simulation of self-locking drives. Mech Mach Theory 6:929–942
Siciliano B, Sciavicco L, Villani L, Oriolo G (2008) Robotics: modelling, planning and control. Springer, London
Slättengren J (2000) Utilization of ADAMS to predict tracked vehicle performance. SAE 2000 World Congress, Detroit, MI, USA
Wong JY (2008) Theory of ground vehicles, 4th edn. Wiley, New Jersey
MSC.ADAMS + ATV_2008r1 (2008) Documentation and help
http://www.projektproteus.pl/?lg=_en (2012) Accessed 4 June 2012
Acknowledgments
The project was co-financed by the European Regional Development Fund within the framework of the 1. Priority axis of the Innovative Economy Operational Programme, 2007–2013, through grant PO IG 01.02.01-00-014/08-00, and by the Institute of Aeronautics and Applied Mechanics statutory funds.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Frączek, J., Surowiec, M., Wojtyra, M. (2013). Multibody Modelling of a Tracked Robot’s Actuation System. In: Sąsiadek, J. (eds) Aerospace Robotics. GeoPlanet: Earth and Planetary Sciences. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34020-8_7
Download citation
DOI: https://doi.org/10.1007/978-3-642-34020-8_7
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34019-2
Online ISBN: 978-3-642-34020-8
eBook Packages: Earth and Environmental ScienceEarth and Environmental Science (R0)