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Journal articles on the topic 'Driving and driven wheels'
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1
Chen, Desheng, and Qiaoning Xu. "A Swinging and Self-Actuating Friction Drive Device Used in Large-Scale Rotary Devices." Recent Patents on Mechanical Engineering 13, no. 1 (2020): 41–48. http://dx.doi.org/10.2174/2212797612666191119102558.
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Background: Large-scale rotary devices often employ friction drives in order to be manufactured easily and usually select a large driving radius to reduce the friction forces needed. In traditional devices, the driver and driven friction wheels are required to be of higher roundness to avoid slipping between them. This makes the driven friction wheel difficult to be machined. In addition, generating adequate contact load between contacting surfaces is essential for friction drives, and the best way to achieve it is self-actuating loading. Objective: The purpose of this paper is to propose and analyze a patent about a new friction drive device, in which the driver friction wheel can roll along with the driven friction wheel throughout, and the contact load between the driver and driven friction wheels can be generated on the torque demand. Methods: By using two swinging gearboxes, the two driver friction wheels are both swinging, and thus both can roll along with the driven friction wheel floatingly. Therefore, the driven wheel can have some deviation in roundness. Besides, this design offers a condition to construct a torque-actuated loading mechanism. Driven by the input torque, each driver wheel turns and exerts a friction force on the driven wheel, and then the driven wheel applies a reactive force to each driver wheel. This reactive force tends to pull the driver wheel to the driven wheel, producing a wedging action. Thus, an appreciable amount of contact load between the driver and driven wheels will be generated. Results: The results show the contact load between the driver and driven friction wheels is directly proportional to the resistant torque acting on the friction drive device. The results also show that a “frictional locking” condition for the device to avoid slipping between the driver and driven friction wheels is needed and it depends on the geometric parameters of the device. Conclusion: A swinging and self-actuating friction drive device is developed by using two swinging gearboxes. Design principles were described and a design example for this friction drive device was demonstrated. This kind of friction drive device not only offers an alternative way to drive large-scale rotary devices, but also develops a new method to realize self-actuating loading for friction drives.
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Chen, De Sheng, Hong Song, and Fei Yan Lou. "A Floating and Self-Actuating Friction Drive Device for a Revolving Stage." Key Engineering Materials 450 (November 2010): 329–32. http://dx.doi.org/10.4028/www.scientific.net/kem.450.329.
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Friction drives offer certain advantages over gears. In particular, they generally run more quietly and are easier to manufacture than geared units. The friction drives used in revolving stages call for a large driving radius in order to reduce friction force. In traditional friction drives, the two friction wheels (driving and driven) must be highly and precisely circular. This makes the manufacture of the driven wheel difficult and uneconomical. In this paper, a floating and self-actuating friction drive device was developed with the use of a swinging gearbox. In this device, the driving wheel is floatable, so the driven wheel is permitted to have certain deviation of roundness in the make and certain eccentricity in the installation. This avoids the difficulties in making and installing the driven wheel. This is a strong point in the applications of the revolving stage and other large-scale revolving devices. Meanwhile, this configuration can adaptively generate a normal torque on demand by using a swinging gearbox. This relieves the friction wheels of a continuous and high-stress load, thus prolonging their workability. Also, this paper described the working principles of this new friction drive device and presented a force analysis.
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Ryoo, Young-Jae, Dae-Yeong Im, and Hyun-Rok Cha. "Design of Robotic Vehicle for Personal Mobility with Electric-Driven Three-Wheels." International Journal of Humanoid Robotics 13, no. 04 (2016): 1650020. http://dx.doi.org/10.1142/s0219843616500201.
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In this paper, a robotic vehicle for a personal mobility with electric-driven three-wheels is proposed. Before designing the proposed robotics vehicle, omni-directional motions using special wheels, active caster wheels, and active steerable driving wheels are studied. For design of the proposed vehicle, we discuss about active steerable wheel design, and vehicle’s frame design. The omni-directional motion through the digital design exploration of the vehicle using active driving and steering wheel robot technology is examined. As the major mechanical components, an active steerable driving wheel, in-wheel motors, brakes, suspensions, and control systems are described. The design is established by rapid prototyping model of omni-directional motion. The steering geometry and control algorithm for the prototype of the proposed personal mobility are experimented.
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Hryciów, Zdzisław, Andrzej Wiśniewski, Piotr Rybak, and Tomasz Tarnożek. "Assessment of the effect of passenger car wheel unbalance on driving comfort." Archives of Automotive Engineering – Archiwum Motoryzacji 94, no. 4 (2021): 61–71. http://dx.doi.org/10.14669/am.vol94.art5.
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This paper presents the results of experimental investigations of the effects of car wheel unbalance on driving safety and comfort. Basic information about types of wheel unbalance, their causes, and effects are included. The test subject was a BMW 3 Series car with rear-wheel drive. A specific unbalance was introduced on the front steered wheels. The vehicle was driven in a straight line on an asphalt road in good condition at speeds between 70 km/h and 140 km/h. During the test runs, acceleration waveforms were recorded from sensors placed on the lower control arm, driver's seat, and steering wheel. The vibration level of the unbalanced wheel increases with the driving speed and with the increase in unbalance. The highest increase in vibration amplitude occurred on the steering wheel at speeds between 100 km/h and 120 km/h. These vibrations have a direct effect on the driver. This is evidenced by negative driver perceptions such as fatigue and driving discomfort. This was also confirmed by the calculated vibration exposure levels. Driving with unbalanced wheels accelerates wear on the tyres, steering, drive, and suspension components of the vehicle.
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Radkevich, A. A., Shixin Yang, U. A. Zaretski, A. A. Velchenko, and S. A. Pauliukavets. "Analysis of castor wheels rotation of mobile differential drive robot." «System analysis and applied information science», no. 4 (January 12, 2024): 30–36. http://dx.doi.org/10.21122/2309-4923-2023-4-30-36.
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Mathematical models for controlling centrally oriented and non-centrally oriented rotary wheels of a mobile robot are considered. Based on the analysis of the kinematics of the mobile robot, the dependences of the rotation angle of the rear and front free wheel on the angular velocities of the right and left differentially driven drive wheel were obtained. For a specific mobile robot with certain kinematic parameters, graphs of the dependences of the angle of rotation of the free wheels on the radius of rotation of each wheel and graphs of the dependences of the angle of rotation of the free wheels on the angular velocities of the driving wheels were constructed. The results obtained made it possible to establish a pattern between the angle of rotation of the castor wheels and the design characteristics of the robot. A certain range of angular velocities of the driving wheels in accordance with the limiting values of the caster wheel rotation angles makes it possible to take into account the obtained mathematical models to increase the stability of the movement of the mobile robot.
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Keller, Andrey V., Andrey V. Popov, and Irina Y. Okolnishnikova. "Evaluation of the technical and economic efficiency of controlled power distribution in transmissions of all-wheel drive trucks." Izvestiya MGTU MAMI 17, no. 3 (2023): 251–60. http://dx.doi.org/10.17816/2074-0530-568179.
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BACKGROUD: Operating conditions of all-wheel drive trucks determine the probability of motion in conditions of uneven distribution of grip and rolling resistance for driven wheels of various axles and sides, which actualizes torque redistribution from an engine to the driven wheels. Reasonable power distribution between driven axles and wheels is important in order to improve the efficiency of all-wheel drive vehicles.
 AIMS: Evaluation of technical and economic efficiency of controlled power distribution in transmissions of all-wheel drive trucks with hydraulically controlled friction clutches.
 METHODS: A series of experiments was carried out on the basis of the KAMAZ-65222 with a differential lock control system with hydraulically driven friction clutches and a measuring and recording facility. The technical efficiency of control on differentials when driving in various road conditions was evaluated by the acceleration duration of the vehicle, the average speed of straight-line movement and when performing a maneuver, the parameters of the ground clearance, fuel efficiency and comparative loading of the wheels drive.
 RESULTS: The experiment confirmed the effectiveness of the algorithm for automatic control of the differential lock in the vehicle transmission in terms of cross-country abilities, workload and fuel efficiency. An increase up to 16.7% of the average speed in difficult road conditions, a decrease of the specific work of rolling resistance overcoming and a decrease in fuel consumption by 7–8% were recorded.
 CONCLUSION: Evaluation of efficiency of solutions for control on differentials in transmission of an all-wheel drive truck showed a significant increase in dynamic properties, cross-country abilities and fuel efficiency. Automatic change of the lock degree of differentials in the transmission when driving on a curved path and on uneven surface has a positive effect on transmission reliability and fuel efficiency, ensuring stability and maneuverability to remain stable. The expected economic effect is more than 206.3 thousand rubles. per year for one vehicle.
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Lee, S. S., and J. H. Williams. "A fast tracking error control method for an autonomous mobile robot." Robotica 11, no. 3 (1993): 209–15. http://dx.doi.org/10.1017/s0263574700016076.
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SUMMARYThis paper proposes a fast tracking error control method for a mobile robot with two differentially driven wheels. The tracking error between reference state and current state is transformed to the required displacement changes of each drive wheel by a wheel Jacobian. The major objective of this paper is to propose a control method for eliminating the tracking error quickly by controlling two independent driving wheels at the same time. To avoid long computational requirements of a Cartesian-based control, a kinematic model of the vehicle and co-ordinate system are introduced. Several simulation results are presented using this method. The fast tracking error control method proposed is mainly hardware-independent and Hence can be applied to various kinds of mobile robots which have two differentially driven wheels. The method was implemented on an experimental vehicle, WCVS, The experimentation shows a performance suitable for practical applications.
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Jatsun, S. F., V. V. Bartenev, E. N. Politov, and D. V. Afonin. "MODELING THE MOTION OF THE ROBOT-TRACTOR FOR TRANSPORTING AIRCRAFT ON THE AIRFIELD." Proceedings of the Southwest State University 22, no. 2 (2018): 34–43. http://dx.doi.org/10.21869/2223-1560-2018-22-2-34-43.
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Towing aircraft ensures the effective functioning of the modern airport, including the military. In military aviation at alarm efficiency and coherence of work of tow trucks is the extremely important task. The article is devoted to solving the actual problem of automation of the process of towing aircraft on the territory of airfields. The paper describes the design of a three-wheeled mobile robot with two independent driving wheels, designed for the transportation of aircraft at airports. The driving wheels are located behind the center of mass, which ensures stable straight-line movement of the robot at all velocities. Robot moves along the horizontal plane along the contrast strip applied to it. Sensory system of the robot is represented by the opto-matrix that includes two opto lines. The criteria of design parameters of the robot, ensuring its stability when moving along a given trajectory are defined. The computing scheme of a three-wheeled robot as a system of three absolutely solid bodies, one of which is the platform together with the optometric matrix of electric drives, the other two-driving wheels is given. In the mathematical model of the robot, the following assumptions are made: the robot is considered as a system of absolutely solid bodies, the motion is carried out without slipping, the driven wheel moves forward. Robot has four degrees of freedom. The equations of the dynamics of the robot with two independent driving wheels on a horizontal rough plane, using the form of Maggi’s equations for electromechanical systems with non-holonomic links are given. A Coulomb model of dry friction is assumed. The conditions of steady motion of a wheeled robot without transverse sliding of driving wheels are also determined.
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Luan, Li Jun, Ning Li, Sheng Chang, and Shu Hua Yu. "The Optimization Design of the Tunneller Drive Wheels Walk Department." Advanced Materials Research 479-481 (February 2012): 977–81. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.977.
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In this paper, do a stress analysis research on driving wheels of EBZ16 road header walking components, set up the 3D model by Pro/E, through the interface between Pro/E and ANSYS, import the wheel model into ANSYS ,have a static stress analysis, check the wheel’s strength .Have a topological optimization by OC method on driving wheel, from the result we can see this design can basically satisfy the demand, and can reduce %15 volume than the former design ,provide theory basis for improving the design and performance of the driving wheels.
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Kokourov, D. V., and B. V. Malozyomov. "Algorithm for improving energy efficient wheel motor for electric vehicles." Journal of Physics: Conference Series 2061, no. 1 (2021): 012049. http://dx.doi.org/10.1088/1742-6596/2061/1/012049.
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Abstract In accordance with the tendency to reduce the number of mechanical assemblies in electric driven machines and mechanisms, attempts are made to bring the electric motor and the actuator of the mechanism into a single whole. Thereby increasing the quality and productivity of the machines. A motor-wheel is a kind of a driving wheel, an actuator of a traction electric drive system of a pneumatic-wheeled transport vehicle. The work is devoted to the modernization of urban electric transport by equipping it with high-energy efficiency motor wheels, based on the frequency converter system - asynchronous motor. This paper describes the improvement algorithm and technological features.
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Hayashi, Ryota, Kenta Nicho, Yong Yu, Tetsuya Kinugasa, and Hisanori Amano. "Small Search Robot Consisting of Plural Driving Wheels Connected by Flexible Shafts." Journal of Robotics and Mechatronics 26, no. 4 (2014): 469–76. http://dx.doi.org/10.20965/jrm.2014.p0469.
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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/09.jpg"" width=""300"" />Search robot driven by flexible shafts</span></div> The small mobile search robot we proposed in a previous study is driven by a pair of flexible shafts and is used effectively for searching rubble to find victims, e.g., of an earthquake. The robot weighs relatively little because it does not have any power unit on it. It may be kept from moving forward, however, if the flexible shafts catch on obstacles. We propose a new small search robot consisting of plural driving wheels connected by flexible shafts. This robot drags the flexible shafts along the ground easily using driving wheels. We designed the robot to connect its driving wheels using a pair of flexible shafts. We consider a differential gear suitable for the drive transmission and confirm the robot’s propulsion and turning in experiments. </span>
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Yamafuji, Kazuo, Yasushi Miyakawa, and Takashi Kawamura. "Synchronous Steering Control of a Parallel Bicycle." Journal of Robotics and Mechatronics 1, no. 2 (1989): 106–11. http://dx.doi.org/10.20965/jrm.1989.p0106.
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This paper describes the methods and experiments on synchronous steering control of a parallel bicycle which has twin wheels on the outside of the parallel driving axes and an inverted-pendulum-type upper structure. The bicycle can be steered by controlling rotation of each wheel driven by each DC servo-motor. In order to drive the vehicle along an arbitrary path, both wheels must be steered and synchronously controlled. Both synchronous control methods are proposed. A gain changing method and a servo-reference method are each applied for the servo-control. The steering and driving control of the vehicle has been attained by using synchronous servo-control methods through a microcomputer. Experiments show that the control methods proposed here are available for steering and servocontrol without losing stability of the vehicle.
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Chen, Yang Zhi, Lei Hou Sun, Di Wang, Yong Qiang Yang, and Jiang Ding. "Investigation into the Process of Selective Laser Melting Rapid Prototyping Manufacturing for Space-Curve-Meshing-Wheel." Advanced Materials Research 135 (October 2010): 122–27. http://dx.doi.org/10.4028/www.scientific.net/amr.135.122.
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The Selective Laser Melting (SLM) technique was investigated for manufacturing of Space-Curve-Meshing-Wheel (SCMW) samples by using of self-made SLM equipment. Experimental results show that, the driving and the driven wheels have considerable shape accuracy and size accuracy to commit continuous and stable transmission.
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Kim, Yeon Su, Sung Hyuk Park, Sung Cheol Yoon, and Jai Kyun Mok. "Torsion Characteristics on Drive Shaft of Independent Wheel Drive for Articulated Vehicle." Key Engineering Materials 577-578 (September 2013): 289–92. http://dx.doi.org/10.4028/www.scientific.net/kem.577-578.289.
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The drive shaft of the bi-modal tram has been designed and built into independent wheel drive; all driving wheels are driven by electric motor-gearbox sets independently, in order to make low floor to provide the old and the handicapped with easy access, and to remove differential gears to reduce turning radius. This paper was aimed to evaluate torques on drive shafts while the bi-modal tram was running on slope way in the test track, and at maximum speed in public roadway. On the basis of the torques measured on the drive shafts, torsion characteristics of the independent wheel drive were discussed in this paper.
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Liu, Wei, Hongwen He, and Jiankun Peng. "Driving Control Research for Longitudinal Dynamics of Electric Vehicles with Independently Driven Front and Rear Wheels." Mathematical Problems in Engineering 2013 (2013): 1–17. http://dx.doi.org/10.1155/2013/408965.
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This paper takes the electric off-road vehicle with separated driven axles as the research object. To solve the longitudinal dynamics driving control problems, vehicle dynamics model, and control strategies were studied and the corresponding simulation was carried out. An 8-DOF vehicle dynamics model with separated driven axles was built. The driving control strategies on the typical roads were put forward. The recognition algorithm of the typical road surfaces based on the wheels’ slip rates was proposed. And the two control systems were designed including the pedal opening degree adjustment control system based on PI algorithm and the interaxle torque distribution control system based on sliding mode control algorithm. The driving control flow of the proposed vehicle combining the pedal adjustment control system with the interaxle torque distribution control system was developed. And the driven control strategies for the typical roads were simulated. Simulation results show that the proposed drive control strategies can adapt to different typical road surfaces, limit the slip rates of the driving wheels within the stable zone, and ensure the vehicle driving safely and stably in accordance with the driver's intention.
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He, Hong Wen, Bo Lan Liu, and Jian Kun Peng. "Driving Control Research on Separated Road Surface for Electric Vehicles with Independently Driven Front and Rear Wheels." Applied Mechanics and Materials 490-491 (January 2014): 1030–36. http://dx.doi.org/10.4028/www.scientific.net/amm.490-491.1030.
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To solve the vehicle longitudinal dynamics problems of driving control, this paper takes the electric off-road vehicle with separated driven axles as the research object. An 8-DOF system dynamics model of vehicle with independently driven front and rear wheels was built by using the MATLAB/Simulink software. The recognition algorithm of the separated road surface was proposed and corresponding driving control strategy was researched. The simulation results show that the proposed drive control strategy can adapt to separated road surface, and ensure vehicle driving safely in accordance with the driver's intention.
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Bao, Yutong, Changqing Du, Dongmei Wu, Huan Liu, Wei Liu, and Jun Li. "Coordinated Slip Control of Multi-Axle Distributed Drive Vehicle Based on HLQR." Mathematics 11, no. 8 (2023): 1964. http://dx.doi.org/10.3390/math11081964.
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For multi-axle distributed drive (MADD) vehicles, the complexity of the longitudinal dynamics control system increases with the number of driven wheels, which presents a huge challenge to control the multi-motor drive vehicle with more than four wheels. To reduce the control system complexity, this paper proposes a coordinated slip control algorithm using the hierarchical linear quadratic regulator (HLQR) scheme for a 12 × 12 MADD vehicle. The 12-wheel driving system is decoupled based on the wheel load and simplified to a double local subsystem. First, the 12 × 12 MADD vehicle dynamics model is established. Then, the optimal slip ratio is obtained on the basis of the road friction coefficient estimation through a fuzzy control algorithm when the wheel slips. Afterwards, the wheel slip ratio is controlled based on the HLQR program for anti-slip regulation. Furthermore, the driving torque control allocation based on quadratic programming (QR) is coordinated with the anti-slip control. Simulink results show that the proposed coordinated slip control based on HLQR can improve slip control accuracy by more than 30% and greatly reduce the calculation load. The torque control allocation is also limited by the slip control results to ensure wheel dynamic stability and smoothly satisfy the driver’s demand.
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Takahashi, Naoki, and Kenichiro Nonaka. "Model Predictive Leg Configuration Control for Leg/Wheel Mobile Robots that Adapts to Changes in Ground Level." Journal of Robotics and Mechatronics 35, no. 1 (2023): 160–70. http://dx.doi.org/10.20965/jrm.2023.p0160.
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Leg/wheel mobile robots, which have articulated legs ending in a wheel, can walk on legs as well as drive on wheels by switching between those two motive mechanisms in response to the terrain. However, effective control of the redundant degrees of freedom of leg/wheel mobile robots is complex. In this study, we propose a model predictive controller for leg configuration control that achieves both driving along the ground surface and climbing over a step. The proposed method simultaneously optimizes the robot pose, wheel positions, and joint angles. To consider the kinematic configuration of the legs explicitly, we formulate constraints on the relative position between the body and wheels. The ground contact condition of the wheels is approximately expressed as a continuous function with respect to each wheel’s relative position to the ground. This formulation induces smooth lifting of the wheels when the ground level abruptly changes, as when climbing a step. To prevent overturning, we evaluate the load distribution between each grounded wheel and constrain the body position to form a support polygon consisting of the grounded wheels. We conducted numerical simulations to verify that the proposed method achieves both driving on wheels and climbing over a step.
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Pandey, Anish, Sujeet Singh, Price Kumar, Lalit Kumar Pothal, and Rajiva Lochan Mohanty. "Design and Analysis of All-Terrain Differential-Driven Caterpillar-Wheeled Based Unmanned Fire Extinguisher Robot." Journal of Applied Research and Technology 20, no. 5 (2022): 529–35. http://dx.doi.org/10.22201/icat.24486736e.2022.20.5.1389.
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The usage of wheeled robots in service robots such as planetary exploration robots, pick-and-place robots, cleaning robots, surveillance robots, etc., is continuously increasing day by day. The primary purpose of these service robots is to reduce human resources and minimize human life risk in a hazardous environment. Therefore, in this article, the authors purpose and design the all-terrain differential-driven caterpillar-wheeled based unmanned Fire Extinguisher Robot (FER), which can detect and monitor the fire by using gas (smoke) sensor and temperature sensor. Also, it can extinguish the fire by spreading the fire extinguisher gas. The proposed unmanned FER has been divided into the two assembled units, one unit drives the FER, and another unit is for spreading the fire extinguisher gas through the nozzle of the cylinder. The driving unit of unmanned FER consists of six DC geared motors, two dual DC motor drivers, caterpillar driving wheels, Arduino MEGA microcontroller, Bluetooth module, gas sensor, temperature sensor, and rechargeable lithium-polymer (LiPo) battery. Next, the one DC motor connected with a motor driver controls the fire extinguisher gas cylinder's open and close valve through a Bluetooth signal from an android phone. The specially designed chassis and caterpillar driving wheel arrangement help the FER to travel in any terrain, including stair climbing. Real-time experimental tests have been carried out on the designed unmanned FER during the fire extinguishing process to prove the effectiveness of the developed FER.
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Huang, Yonghua, Ganmin Zhu, Changsheng Wang, and Hao Huang. "Structure Design and Dynamical Modelling of a Spherical Robot Driven by Omnidirectional Wheels." MATEC Web of Conferences 153 (2018): 02003. http://dx.doi.org/10.1051/matecconf/201815302003.
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In this paper, our work focused on designing a novel spherical robot driven by omnidirectional wheels and developing an under-actuated dynamical model for the system. The robot consists of four parts: the running spherical shell (1P), the supporting platform (1P), the driving omnidirectional wheels (3P) and the bearing ball wheels (3P). Considering the noholonomic constrains aroused from the contacts of the shell with the omnidirectional wheels, and the shell with ground, we derived a dynamical model for the system by Chaplygin dynamics. The model illustrated that the robot was an under-actuated system of six DOF (degree of freedom) and three driving-torque inputs. finally, we performed an inverse dynamics simulations of S-curve trajectory to show the effectiveness of the model.
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Podryhalo, M., R. Kaidalov, and V. Omelchenko. "Rational choice of torques distribution between the front and back electric motors of automobile wheels drive." IOP Conference Series: Materials Science and Engineering 1277, no. 1 (2023): 012023. http://dx.doi.org/10.1088/1757-899x/1277/1/012023.
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Abstract Two-axle all-wheel drive automobiles and the procedure for determining the torques between the front and back driving wheels are considered. The influence of the distribution of torques between the front and back driving wheels of all-wheel drive two-axle automobiles on their controllability, stability and energy efficiency is analyzed. A study was conducted to improve the energy efficiency of two-axle automobiles by rationally choosing the torque distribution coefficient between the front and back wheels. A mathematical model of the efficiency ratio of the wheel drive of a two-axle automobile was obtained, which makes it possible to determine the ratio of the rational distribution of torques between the front and back wheels through its optimization. It has been proven that the use of electric automobiles and automobiles with a combined power unit will allow to control the distribution of torques between their front and back wheels controlled by electric motors. The proposed rational choice of the distribution of torques between the front and rear electric motors of the wheel drive will allow to increase the efficiency of the wheel drive and improve the energy efficiency not only of single electric automobiles and hybrid automobiles, but also of road trains that use a combined electromechanical drive of the driving wheels.
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Feng, Yi Fei, Xiao Jun Xu, Hai Jun Xu, Xiang Zhang, Fa Liang Zhou, and Rong Wang. "Structural Design and Analysis of the Motionlink in the Dynamic Assembled Screw-Driven Device." Applied Mechanics and Materials 376 (August 2013): 390–94. http://dx.doi.org/10.4028/www.scientific.net/amm.376.390.
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The dynamic assembled screw-driven device is a new kind of mechanical driving device, one of its main structures is the reasonable designed motionlink. To setup two groups of oriented wheels which complied the Archimedes screw around the center cylinder, the top groups of wheels ensure the helical plates moving in the right direction otherwise be twisted, and the other groups of wheels provide the power that ensure the helical plates meshed accurately and driving stably. This paper is to calculate the structure in theory and make some primary simulation analysis for the mechanical characteristic in Static.
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Shi, Qi, and Jucheng Wang. "Design and Realization of Mobile Robot Driven by Omnidirectional Wheels." Journal of Physics: Conference Series 2402, no. 1 (2022): 012035. http://dx.doi.org/10.1088/1742-6596/2402/1/012035.
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Abstract Omnidirectional mobile robot refers to a robot technology that can move in any direction on the ground. Aiming at the problems of complex control, low driving efficiency, and poor carrying capacity of ordinary omnidirectional mobile robots, an omnidirectional wheel-driven mobile robot was proposed. The robot can achieve traverse characteristic motion with zero gyration radius without changing its attitude. Through the kinematic analysis of the mobile robot equipped with this wheelset, the omnidirectional motion function of efficient driving is verified. Prototype experiments show that the robot can effectively improve space utilization and intelligence in scenarios with limited space.
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Klets, Dmytro, Yevhen Dubinin, Evhenyi Pelypenko, and Vladislava Baidala. "DETERMINATION OF THE PARTIAL ACCELERATION OF A TWO–AXLE VEHICLE WITH ALL–HANDLED WHEELS." Bulletin of the National Technical University «KhPI». Series: Automobile and Tractor Construction, no. 1 (June 20, 2022): 12–21. http://dx.doi.org/10.20998/2078-6840.2021.1.02.
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The proposed method allows evaluating an automobile handling with or without accounting withdrawal, with various types of drive wheels and various steering wheels using partial acceleration. Determination of lateral and tangential reactions on automobile tire while turning in view tire slip allows more accurate evaluating of automobile maneuverability, stability and handling. Determination of vehicle total and partial angular accelerations during its driving into rotation with and without accounting withdrawal allows developing an vehicles handling improving algorithm with different tire types. Using of different ways in vehicle managing is complicating associated with machine design and control process by machine handling characteristics changing during applying the locking devices. The equations of front-wheel drive vehicles and all-wheel drive vehicles rotational motion when driving on curves without removal are the same. Appearance of new ways to perform maneuvers such as turning movement with all the drive wheels (4WS), requires researching of movement trajectory, stability and handling of machines during specified maneuvering. The partial acceleration method allows the assessment of the controllability of vehicles with different types of drives (front-, rear - and all-wheel drive) and with different steerable wheels. The determination of lateral reactions on the wheels of the vehicle when turning allows for a more accurate assessment of the agility, stability and handling of vehicles
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Kakhiani, M., and N. Nozadze. "GEARS WITH INCOMPLETE TEETH." Sciences of Europe, no. 162 (April 13, 2025): 53–57. https://doi.org/10.5281/zenodo.15206867.
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In the article are presented transmissions in that the driving and driven tooth wheel rims are equipped with equal-height teeth of full and partial length, located along planar or spatial curves. Different types of these transmissions and speed variators are presented. Some kinematic parameters of these transmissions are calculated.
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He, Ping, Zhu Rong Dong, Cheng Wei Han, and Song Hua Hu. "Design and Test Development of a Comprehensive Performance Test Bench for Electric Wheel." Applied Mechanics and Materials 644-650 (September 2014): 817–22. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.817.
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In order to research the driving performance of electric vehicle driven by the electric wheels and provide the test basis to the design of electric vehicle, the author of the paper designed and developed a multifunctional comprehensive performance test bench for electric wheel. Such test bench has the basic functions of road simulation, resistance simulation, vehicle weight simulation and inertia simulation, and the other functions of steering simulation, coupling simulation of electric braking and mechanical coupling, wheel hub motor performance test lamp. The author of the paper made certain design for the relevant test items, which has far-reaching significance for the test and research of the battery electric vehicle (BEV) driven by the wheel hub motor.
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Gudkov, Viktor, and Pavel Sokol. "ON THE ISSUE OF KINEMATIC MISALIGNMENT IN THE TRANSMISSION OF ALL–WHEEL DRIVE CARS." Voronezh Scientific-Technical Bulletin 1, no. 1 (2025): 55–77. https://doi.org/10.34220/2311-8873-2025-55-77.
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The article analyzes the causes of the phenomenon of circulating power in a closed power circuit "wheel propulsion – bearing surface" and kinematic misalignment of the driving wheels of an all-wheel drive vehicle under various conditions and modes of its movement. The methods of reducing the kinematic misalignment of the driving wheels are analyzed, their advantages and disadvantages are indicated. An improved algorithm for the functioning of a device for determining the slipping of tire tread elements along the support surface is proposed in order to reduce the kinematic misalignment of the driving wheels with the transmission locked.
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Kazakov, Yu, V. Batmanov, V. Pavlov, and V. Medvedev. "Wheel drive with integrated differential." IOP Conference Series: Earth and Environmental Science 935, no. 1 (2021): 012029. http://dx.doi.org/10.1088/1755-1315/935/1/012029.
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Abstract The performance indicators of wheeled arable machine-tractor units, which are accelerated on the working gear, depend on the operating modes of the wheels during this period. When the wheel is skidding, soil lumps break down in the contact spot, the soil structure is destroyed. Based on the system analysis of the wheels operation, the method of their improvement is justified by continuous control of the eccentric point of application of the driving torque and external load. As a result of the analysis for the first time, a soil-sparing wheel mover with the properties of a differential, a tangential force regulator and clearance regulator was developed. In the case of an eccentric application of a vertical load and a longitudinal pushing force, one of the satellites of the wheeled planetary gearbox is the leading and bearing one. The purpose of the article is to analyze the factors influencing the automatic adaptation of the wheel drive to changing operating conditions. It is established the relationship between the driving moment and the rolling resistance moment, the moments of inertia of the wheel and the drive gear of the integrated differential.
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Md-Tahir, Hafiz, Jumin Zhang, Yong Zhou, et al. "Engineering Design, Kinematic and Dynamic Analysis of High Lugs Rigid Driving Wheel, a Traction Device for Conventional Agricultural Wheeled Tractors." Agriculture 13, no. 2 (2023): 493. http://dx.doi.org/10.3390/agriculture13020493.
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Traction failure on loose terrain is common in conventional agricultural wheeled tractors due to poor traction ability and lower power transfer efficiency of drive wheels, which leads to excessive energy consumption and soil compaction in agriculture. To overcome the problem, this paper presents a new design of a rigid lugged wheel for use in field tillage operations. This wheel was designed according to field operational requirements and also provided with rubber pads for smooth on-road drives. Kinematic and dynamic analysis of new wheel designs were carried out to study how they move, how they interact with the soil, and how they generate drive force in loose terrain soil. The relationship of wheel lug motion trajectories, displacement, and velocity of the wheel relative to field conditions, different travel reduction rates, and lug penetration/wheel sinkage were analyzed. Wheel-terrain interaction and shear stress-shear displacement relationships when the wheel is driven in soft, deformable terrain were studied using classic soil mechanics principles. It is found that the component of thrust in the direction of driving, i.e., driving force, is ranged between 81.52% and 86.17%, while the vertical component is reported to be less than 30% and further decreases to 9%, which is the compaction avoiding factor. The relationships, thus developed, of wheel parameters, soil stress and thrust characteristics, and wheel drive force were derived and revealed that the traction performance, power transfer efficiency, and trafficability of tractors in loose terrain can be improved by using the newly proposed wheel. A finite element method was used to analyze the designed wheel model for structural stability and optimization. The theoretical analysis results of the new drive wheel are convincing, so further tests and field operation research are recommended for sustainable adoption.
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Meng, Ling Yi, Bing Xin Wang, Sun An Wang, and De Hong Yu. "A High Accuracy Tachometric Measurement Method of the Wheeled Mobile Platform Based on Equal Precision Technique." Applied Mechanics and Materials 303-306 (February 2013): 318–22. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.318.
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Wheeled mobile platform is a common structure of mobile robots and electric vehicles. If the wheels driven by individual motors can be accurately controlled, the mechanical construction will be simplified and the composed movement would be precise. The high accuracy tachometric control is based on precise measurement of each driving wheel’s speed. And the mobile platform introduced in this paper has simple structure with light weight and fast dynamic response. Therefore, the digital control cycle should not be long. When the wheels are traveling at a low speed and the sampling period is short, the measurement error would be great, using the traditional methods. We adopted multi-microprocessor and external circuit as the hardware, and chose equal precision method to measure the rotational speed. The results show that this system has achieved high accuracy measurement with errors within ±1‰, which would secure the latter precise control.
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Phan, Tai Tan, Ha Thanh Ngo, and Banh Thanh Huynh. "APPLICATION OF PID METHOD TO CONTROL TRACTION ON THE VEHICLES THROUGH CONTROLLING THE BRAKE MOMENT AT THE TWO DRIVING WHEELS." TRA VINH UNIVERSITY JOURNAL OF SCIENCE; ISSN: 2815-6072; E-ISSN: 2815-6099 1, no. 46 (2022): 64–70. http://dx.doi.org/10.35382/tvujs.1.46.2022.864.
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A vehicle differential is a device that divides engine power between the two driving wheels and allows the wheels to rotate at different speeds when the vehicle moves on the road. The speed difference depends mainly on the grip between the wheels and the road surface. When the traction acting on both driving wheels is equal,the differential will distribute traction equally, helping the vehicle move stably on a straight road. However, if one of the two driving wheels rolls on a slippery road, the differential will distribute more engine power to this wheel. As a result, the vehicle’s motion is unstable, engine power is lost, the vehicle cannot move. To solvethe problem, using a limited-slip differential, an active differential or a traction control system is considered an optimal solution. This study uses the brake moment acting on the skidding wheel to redistribute the engine power at the two driving wheels and uses the PID method for traction control at the drive wheels. Survey results show the effectiveness of the designed controller.
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Zhang, Chuanwei, Dongsheng Zhang, Hongjun Zeng, Rui Wang, Jianping Wen, and Wei Mo. "Research of smoothness on torque coordination of two-wheel independently driven hub electric vehicle based on fuzzy control." Noise & Vibration Worldwide 50, no. 7 (2019): 205–16. http://dx.doi.org/10.1177/0957456519860841.
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Aiming at the problems of drive torque coordination, steering vibration and asymmetry of two-wheel independent drive hub electric vehicle, a new torque coordination control algorithm of driving wheel is proposed based on fuzzy control theory. The algorithm takes yaw rate deviation and centroid side deviation as inputs of fuzzy controller, outputs additional yaw moment needed by vehicle, and distributes it to each driving wheel reasonably according to the requirements of each driving wheel. Under the coordination of the driving anti-skid control algorithm, the vibration of driving wheels was reduced and the vehicle can run smoothly. The algorithm is verified by Simulink-CarSim joint simulation, and a fast prototype experiment platform based on dSPACE is built. The results of experiment and simulation show that the control strategies are effective and feasible.
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Liang, B., and S. D. Iwnicki. "Independently Rotating Wheels with Induction Motors for High-Speed Trains." Journal of Control Science and Engineering 2011 (2011): 1–7. http://dx.doi.org/10.1155/2011/968286.
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Railway vehicles with conventional wheelsets often experience problems of lateral instabilities or severe wear when running at high speed. The use of an independently rotating wheelset (IRW) can potentially eliminate the cause of wheelset hunting and reduce wheel wear as the mechanical feedback mechanism causing the problem is decoupled. This paper presents an investigation into the design of a novel induction motor configuration and controller for IRW in order to provide the stability required to satisfy the performance requirements for railway vehicles. A computer model of the mechanical and electrical parts of the system was developed. Simulation and experiments of the wheelsets with active driving motor control have demonstrated that a wheelset with independently driven wheels has a good stability performance over a traditional wheelset. Controllers with indirect field orientation control for dynamic control of an induction motor have shown to be suitable for this application in both its response and its controllability.
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Yang, Wei Hua, You Rong Li, Zi Fan Fang, and Kong De He. "Simulation and Analysis of Ride Comfort of 4WD Electric Vehicle." Applied Mechanics and Materials 574 (July 2014): 287–91. http://dx.doi.org/10.4028/www.scientific.net/amm.574.287.
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Taking the independent four motorized wheels driving electric vehicle (4WD EV) as study object, the method and index evaluating ride comfort of automobile suspension system were described, and the input model of random road excitation and the dynamics model of 1/4 vehicle vibration system were established, then the simulation of ride comfort of the established model was conducted, so the evaluating indexes’ responses in time domain and frequency domain were obtained. Above all, the changes of these indexes which are suspension damping, spring stiffness and un-sprung mass were analyzed, their effects on the ride comfort of electric vehicle driven by motorized wheel studied, thus provided reference for the development of electric vehicle driven by in-wheel motor.
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Crenganis, Mihai, Cristina Biris, and Claudia Girjob. "Mechatronic Design of a Four-Wheel drive mobile robot and differential steering." MATEC Web of Conferences 343 (2021): 08003. http://dx.doi.org/10.1051/matecconf/202134308003.
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This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.
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Laubach, V. P., V. V. Gerashchenko, and N. A. Kovalenko. "The device for automatic locking of inter-wheel differential of wheeled tractor." Traktory i sel hozmashiny 84, no. 7 (2017): 3–7. http://dx.doi.org/10.17816/0321-4443-66306.
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The efficient operation of the wheeled tractor is largely determined by such operating property as permeability. To increase it, the automatic interlock differential locking systems are used, which block it only when the wheeled tractor turns, and in case of rectilinear motion the differential is in the unlocked state. This reduces the permeability of the wheeled tractor in severe road conditions with its rectilinear movement. The authors propose an automatic device for locking and unlocking an inter-wheel differential operating on the basis of a generalized information parameter-the difference in the frequencies of rotation of the driving wheels of one axis when the tractor moves both in straight run and during turning. It consists of a device switch, a clutch with friction discs to lock the differential; Hydraulic actuation of its operation, consisting of a tank, a pump, a reducing valve, an electromagnetic two-position spool with a winding; two speed sensors of the first and second driving wheels; adder with two inputs and an output, inputs connected to the first and second speed sensors; amplifier output connected to the coil of the spool. When it reaches the set difference of speeds of the wheels of the drive axle is generated a control voltage which is amplified and fed to the winding spool. Moving, it ensures the inclusion of the differential lock. When the difference in the rotational speeds of the driving wheels is reduced to zero, the inter-wheel differential is automatically unlocked. The use of the developed device for automatic control of interlocking and unlocking of the inter-wheel differential, in comparison with the known, provides increased permeability of the wheeled tractor.
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Liu, Boju, Gang Li, Hongfei Bai, Shuang Wang, and Xing Zhang. "Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car." World Electric Vehicle Journal 15, no. 5 (2024): 178. http://dx.doi.org/10.3390/wevj15050178.
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In order to improve the yaw stability of a front-wheel dual-motor-driven driverless vehicle, a yaw stability control strategy is proposed for a front-wheel dual-motor-driven formula student driverless racing car. A hierarchical control structure is adopted to design the upper torque distributor based on the integral sliding mode theory, which establishes a linear two-degree-of-freedom model of the racing car to calculate the expected yaw angular velocity and the expected side slip angle and calculates the additional yaw moments of the two front wheels. The lower layer is the torque distributor, which optimally distributes the additional moments to the motors of the two front wheels based on torque optimization objectives and torque distribution rules. Two typical test conditions were selected to carry out simulation experiments. The results show that the driverless formula racing car can track the expected yaw angular velocity and the expected side slip angle better after adding the yaw stability controller designed in this paper, effectively improving driving stability.
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M. A., Podrigalo, Artyomov M. P., Tretyak V. M., Krasnokutskyi V. M., and Omelchenko V. I. "Efficiency coefficient of tractor wheel drive while moving on ground." MECHANICS and AUTOMATICS of AGROINDUSTRIAL PRODUCTION, no. 1(116) (2023): 143–50. http://dx.doi.org/10.37204/2786-7775-2023-1-15.
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Purpose. The purpose of the study is to improve the energy efficiency of tractors when working on a deformable support surface by increasing the efficiency of the wheel drive due to the rational selection of its parameters. Methods. The methods of the theory of movement of traction vehicles and theoretical mechanics are used. Results. Analytical equations are compiled that describe the dependence of the interaction of wheels with pneumatic tires with the ground support surface. The effect of tangential soil compliance on the efficiency of a single wheel and wheel drive was determined, and the influence of soil compliance was taken into account to determine the rational distribution of torque (traction) moments between the driving axles of a two-axle tractor. Conclusions 1. As a result of the conducted research, the dependence of the coefficient of useful action of the tractor's wheel drive on the coefficient of distribution of torque (traction) moments between the axles during movement on a deformable support surface was determined. The resulting mathematical model takes into account both the circular stiffness of the tires of the driving wheels and the flexibility of the soil in the contact patch. 2. The rational (optimal with the adopted mathematical model) value of the torque distribution coefficient βm between the axles should vary depending on the rolling resistance of the driving wheels and the characteristics of the soil background. With an electric drive of the driving wheels, adjustment of the coefficient βm is possible, and with a mechanical drive of the driving wheels, control of the coefficient βm can be carried out by adjusting the ratio of torsional stiffnesses of the tires of the front and rear wheels due to their internal pressure. 3. For agricultural tractors it is advisable to adjust the air pressure in the tires for each bridge separately, depending on the type of running system(4K4a, 4K4b) and the physical condition of the soil. Keywords: wheel drive, two-axle tractor, coefficient of useful action, deformation of the support surface, traction moments.
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Miroslaw, Tomasz, Jan Szlagowski, Adam Zawadzki, and Zbigniew Zebrowski. "Simulation model of an off-road four-wheel-driven electric vehicle." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, no. 9 (2019): 1248–62. http://dx.doi.org/10.1177/0959651818822399.
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Electric vehicle gives much more advantages than only less air polluting or less noisy mobility. The current technology enables engineers to better control the electric motor than internal combustion engine. Electronic components like transistors, which can be switched on and off almost anytime, help to control the motor current and indirectly the torque and the speed. The progress in power electronics and motor construction opens new possibilities in vehicle construction and control. The process of wheel rolling can be better controlled which is very important especially on deformed surface of a road. The movement resistance can be reduced by smart power distribution between front and rear wheels in 4 × 4 drive vehicles, where front wheels can compact the ground and rear wheels can move on the rigid road. To reach all the advantages, we need a better understanding of a processes occurring in electric vehicles’ systems, which consist of motors, gears, and wheels reacting with ground. Authors present the model of 4 × 4 drive vehicle focused on this last, but not least, problem—part of an electric vehicle model which is the wheel–ground cooperation. This subsystem decides about power flow from the motor to the wheel and about traction and movement efficiency. This problem is not new, but flexible driving manner going with electric drive makes these analyses more practical and can be used in off-road electric vehicles. The analyses were supported by model and simulation prepared with MATLAB/Simulink software. In conclusion, the comparison of various drive properties and possibilities is presented and recommendations for further development are suggested.
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Xu, Fengyu, and Quansheng Jiang. "Dynamic obstacle-surmounting analysis of a bilateral-wheeled cable-climbing robot for cable-stayed bridges." Industrial Robot: the international journal of robotics research and application 46, no. 3 (2019): 431–43. http://dx.doi.org/10.1108/ir-07-2018-0152.
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Purpose Field robots can surmount or avoid some obstacles when operating on rough ground. However, cable-climbing robots can only surmount obstacles because their moving path is completely restricted along the cables. This paper aims to analyse the dynamic obstacle-surmounting models for the driving and driven wheels of the climbing mechanism, and design a mechanical structure for a bilateral-wheeled cable-climbing robot to improve the obstacle crossing capability. Design/methodology/approach A mechanical structure of the bilateral-wheeled cable-climbing robot is designed in this paper. Then, the kinematic and dynamic obstacle-surmounting of the driven and driving wheels are investigated through static-dynamic analysis and Lagrangian mechanical analysis, respectively. The climbing and obstacle-surmounting experiments are carried out to improve the obstacle crossing capability. The required motion curve, speed and driving moment of the robot during obstacle-surmounting are generated from the experiments results. Findings The presented method offers a solution for dynamic obstacle-surmounting analysis of a bilateral-wheeled cable-climbing robot. The simulation, laboratory testing and field experimental results prove that the climbing capability of the robot is near-constant on cables with diameters between 60 and 205 mm. Originality/value The dynamic analysis method presented in this paper is found to be applicable to rod structures with large obstacles and improved the stability of the robot at high altitude. Simulations and experiments are also conducted for performance evaluation.
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Okada, Tokuji, Abeer Mahmoud, Wagner Tanaka Botelho, and Toshimi Shimizu. "Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels." Robotica 30, no. 1 (2011): 123–32. http://dx.doi.org/10.1017/s026357471100035x.
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SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work expression to determine the robot's motion complying with driven wheels. The model also enables us to estimate trajectories for different ground conditions. A hybrid robot, PEOPLER-II, is used to demonstrate the predicted motions, including turns and spins, by following angular velocity control rules. Experimental data verifies that the proposed formulation and minimisation of virtual work are valid techniques for predicting a robot's trajectory. The method described is widely applicable to wheeled robots having independently driven wheels.
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Valladolid, Juan Diego, Diego Patino, Giambattista Gruosso, Carlos Adrián Correa-Flórez, José Vuelvas, and Fabricio Espinoza. "A Novel Energy-Efficiency Optimization Approach Based on Driving Patterns Styles and Experimental Tests for Electric Vehicles." Electronics 10, no. 10 (2021): 1199. http://dx.doi.org/10.3390/electronics10101199.
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This article proposes an energy-efficiency strategy based on the optimization of driving patterns for an electric vehicle (EV). The EV studied in this paper is a commercial vehicle only driven by a traction motor. The motor drives the front wheels indirectly through the differential drive. The electrical inverter model and the power-train efficiency are established by lookup tables determined by power tests in a dynamometric bank. The optimization problem is focused on maximizing energy-efficiency between the wheel power and battery pack, not only to maintain but also to improve its value by modifying the state of charge (SOC). The solution is found by means of a Particle Swarm Optimization (PSO) algorithm. The optimizer simulation results validate the increasing efficiency with the speed setpoint variations, and also show that the battery SOC is improved. The best results are obtained when the speed variation is between 5% and 6%.
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Shuklinov, Serhiy, Anatolii Uzhva, Mykola Aloksa, Oleh Tkachov, and Myron Mahats. "Determining the possibility of slipping the driving wheels of the car." Automobile transport, no. 50 (July 8, 2022): 40–50. http://dx.doi.org/10.30977/at.2019-8342.2022.50.0.05.
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Problem. The disadvantage of the existing dependencies for determining the possibility of the automobile drive wheel slip with the maximum use of engine power and indicators of the interaction of the drive wheels with the supporting surface is that they are correct only if the motion of the car is steady. This downside is due to the fact that when deriving the equation of the car motion, the assumption is made that the total tractive force is on the drive wheels, that is, without taking into account the energy losses due to the increase in the kinetic energy of the rotating masses of the engine, transmission, and drive wheels. At the same time, the specified energy losses are compensated by a relative increase in the inertia (mass) of the gradually moving car. Such an assumption is quite correct for determining the traction and speed characteristics of a car not only during steady motion but also during acceleration. Determining the possibility of the automobile drive wheel slip during automobile acceleration, this assumption is incorrect because the drive wheels are not affected by the total tractive force, but by a force that is reduced in accordance with energy losses due to an increase in the kinetic energy of the rotating masses of the engine, transmission, and driving wheels. It is necessary to take into account the reduction of the tractive force on the drive wheels during the acceleration of the car in order to eliminate the mentioned shortcoming. Goal. The aim is the further development of the theory of the car by improving the dependencies that allow determining the conditions for the possibility of the automobile drive wheel slip during its acceleration and the modes of its motion. Methodology. The considered approaches for achieving this aim are based on the laws of physics, theoretical mechanics and provisions of the theory of the car. Results. Analytical dependencies have been improved to determine the conditions for the possibility of the automobile drive wheel slip during its acceleration and the modes of its motion. Dependencies for determining the range of the automobile drive wheel slip on the speed of the vehicle during acceleration are obtained. During the theoretical study of the car motion process, it was established that the developed dependencies allow determining the car driving mode and the possibility of the automobile drive wheel slip both during acceleration and steady motion. Originality. The obtained dependences for determining the possibility of the automobile drive wheel slip during acceleration of the car made it possible to clarify the idea of the driving mode of the car and the possibility of the automobile drive wheel slip both during acceleration and during steady motion. Practical value. The obtained dependencies can be used in the design of new and improved sports cars such as dragsters, and for analyzing the dynamics of the car motion during acceleration with total fuel supply and determining the nature of the interaction of the drive wheels with the supporting surface depending on the speed of motion.
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Wu, Baolin. "Four wheels driven independently by one pump driving four hydraulic motors." Chinese Journal of Mechanical Engineering (English Edition) 18, no. 02 (2005): 232. http://dx.doi.org/10.3901/cjme.2005.02.232.
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Zhou, Deyi, Pengfei Hou, Yuelin Xin, et al. "Study on the Control of Torque Distribution of 4WD Corn Harvester Operation Drive." Applied Sciences 11, no. 19 (2021): 9152. http://dx.doi.org/10.3390/app11199152.
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In response to the poor adaptability of existing harvesters to complex operating conditions in the field, this study took a three-row four-wheel-drive (4WD) corn harvester as the research object, designed a traveling transmission system layout, proposed a control strategy of driving torque distribution, simulated, and analyzed each of the four states of harvester drive wheels slippage. The results showed that under the driving wheels slipping condition, after applying torque control, the adjustment time was 43.3% shorter than that without control in the case of single wheel slipping, 11.1% shorter than that without control in the case of two wheels slipping on the same axle, 41.4% shorter than that without control in the case of two wheels slipping on different axles, and 36.6% shorter than that without control in the case of three driving wheels slipping. The application of drive torque distribution control could significantly improve the traction and passing ability of the corn harvesters during operation, as well as made the harvester travel more smoothly, thus improving the harvest quality. The drive torque distribution control can be applied not only to the three-row corn harvester, but also to other types of harvesters, and self-propelled agricultural machinery to enhance their adaptability, improving their operation quality. It has a significant reference value for the development of the driving system on walking agricultural machinery.
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Mazilu, Traian, Ionuţ Radu Răcănel, and Marius Alin Gheți. "Vertical Interaction Between a Driving Wheelset and Track in the Presence of the Rolling Surfaces Harmonic Irregularities." Romanian Journal of Transport Infrastructure 9, no. 2 (2020): 38–52. http://dx.doi.org/10.2478/rjti-2020-0010.
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Abstract The driving wheelset is used in railway traction (locomotives, electric trains, trams, etc.) to support part of the weight of the suspended mass and to drive and brake the vehicle. The dynamics of the driving wheelset/track system is a very important issue in the railway engineering, and this paper is focused on basic features of the frequency response functions which describe the dynamic behavior in the presence of the rolling surfaces harmonic irregularities. To this end, a simple model of the driving wheelset/track system with the range of application limited up to 6-700 Hz is adopted. The driving wheelset model consists of a free-free uniform Euler-Bernoulli beam with three attached rigid bodies, representing the axle, the two wheels and the gear; the distinct feature of this model is the inertial asymmetry. Two independent infinite uniform Euler-Bernoulli beams, each on its foundation including two elastic layers for rail pad and ballast and an intermediate inertial layer for sleepers represent the track model. For simplicity, the moving irregularity model is applied to simulate the interaction between wheels and rails. Numerical simulations show that the driving wheelset/track system has three resonance frequencies, all situated in the frequency range of the evanescent waves in rails. FRF of the driving wheelset/track system have been calculated for left and right wheel/rail pair. The influence of the asymmetric inertia of the driving wheelset and the out of phase between the rolling surface irregularities are evaluated in terms of frequency response functions of the wheel/rail contact force.
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Zhu, Xi, and Jian Guo Song. "The Analysis of 4WD Vehicle Overtaking Based on Electric Wheels." Applied Mechanics and Materials 241-244 (December 2012): 1475–81. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1475.
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In order to improve vehicle overtaking performance, the four-wheel driving technology based on electric wheels is analyzed. A four-wheel driving vehicle model has been built with ADAMS software, and the control strategy has been built with Simulink software. The driver steering and speed control model with variable ratio is built. The comparative overtaking simulation of four-wheel driving with and without Direct Yaw Control is processed. With the simulation, it can be found that the centroid yaw-rate of the vehicle with Direct Yaw Control is smaller, and vehicle movement track is closer to target track than the vehicle without DYC. The manipulation performance of vehicle is improved, and the labor intensity of the driver is reduced. This provides a certain amount of theoretical research for the four-wheel driving technology based on electric wheels.
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Kojima, Toshinori, and Pongsathorn Raksincharoensak. "Risk-Sensitive Rear-Wheel Steering Control Method Based on the Risk Potential Field." Applied Sciences 11, no. 16 (2021): 7296. http://dx.doi.org/10.3390/app11167296.
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Various driving assistance systems have been developed to reduce the number of automobile accidents. However, the control laws of these assistance systems differ based on each situation, and the discontinuous control command value may be input instantaneously. Therefore, a seamless and unified control law for driving assistance systems that can be used in multiple situations is necessary to realize more versatile autonomous driving. Although studies have been conducted on four-wheel steering that steers the rear wheels, these studies considered the role of the rear wheels only to improve vehicle dynamics and not to contribute to autonomous driving. Therefore, in this study, we define the risk potential field as a uniform control law and propose a rear-wheel steering control system that actively steers the rear wheels to contribute to autonomous driving, depending on the level of the perceived risk in the driving situation. The effectiveness of the proposed method is verified by a double lane change test, which is performed assuming emergency avoidance in simulations, and subject experiments using a driving simulator. The results indicate that actively steering the rear wheels ensures a safer and smoother drive while simultaneously improving the emergency avoidance performance.
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Hou, Shun Yan, Zhi Yuan Li, Tao Wang, Lian Lu Pang, and Zhi Yuan Feng. "Study on Electronic Differential Control for a Mini Electric Vehicle with Dual In-Wheel-Motor Rear Drive." Applied Mechanics and Materials 525 (February 2014): 346–50. http://dx.doi.org/10.4028/www.scientific.net/amm.525.346.
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An electronic differential control system (EDS) has been designed based on a mini electric vehicle (EV) with dual in-wheel-motor rear drive. In view of imperfection of current strategy with speed and moment as control variables, a new control strategy for EDS in a two in-wheel-motor drive EV is proposed with the moment of driving wheel torque as control variable and the slip rate equilibrium of two driving wheels as control objective, considering the effects of axle load transfer. The differential control experiments are conducted with steering mode and straight acceleration mode based on the vehicle prototype. The results show that the control strategy is reasonable, and the controller can effectively realize EV electronic differential by coordinating the moment of two driving wheels.
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Kozłowski, M., and W. Choromański. "Dynamics simulation studies on the electric city car with an electromechanical differential and the rear wheels drive." Bulletin of the Polish Academy of Sciences: Technical Sciences 61, no. 3 (2013): 661–73. http://dx.doi.org/10.2478/bpasts-2013-0070.
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Abstract Here we present one of the more complex models for studying the stability of driving an electric car with electromechanical differential systems. The purpose of simulation is to choose a structure of the control system for a velocity control on driven wheels (an algorithm of a differential) most appropriate for the driver. This type of goal is particularly important in the case of a disabled driver sitting in a wheelchair. The modeling takes into account both the mechanical and electric structure of the vehicle, and finally the human element - a simple model of human impact on the steer by a wire system. Modeling and simulation have used MBS package (SimMechanics). The results of the simulation have showed the best algorithms of an electromechanical differential for the velocity control of rear drive wheels: with setting a velocity difference or with an average velocity controller in the point A of the centre of a car front axle.