Journal articles: 'Motion of the wheel'

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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 (November 29, 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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Quaglia, Giuseppe, Daniela Maffiodo, and Francesco Pescarmona. "A Novel Continuous Alternate Motion Mechanism With Two Input Wheels." Journal of Mechanical Design 129, no. 8 (June 27, 2006): 858–64. http://dx.doi.org/10.1115/1.2735638.

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This paper presents the design of a mechanism with the following specifications: continuous alternate motion, wide motion phases with constant angular velocity, parallel input and output shafts, and great strokes. Those specifications derive from a possible application in the textile field. The mechanism is composed of two star wheels properly coupled together: there are two counter-rotating input wheels, alternately coupling with slots first, then teeth at each side of the output wheel. As usual for star wheels, pins and slots handle the acceleration and deceleration phases, while the constant velocity phase is performed by coupling sectors of toothed gears. A proper design of pins and slots is performed, so that at the same time when a pin from one input wheel is releasing a slot, a pin from the other input wheel engages a slot on the other side of the output wheel, forcing the latter to an opposite motion. In this way the output wheel has a continuous and smooth alternate motion. By annihilating the arrest phases typical of star wheels, the proposed system eliminates the discontinuities in the acceleration diagram. The paper develops a complete parametrical analysis of the device, underlining the effect of the constraints on the shape of the motion laws with particular emphasis on the acceleration and deceleration phases. In this way the output wheel has a continuous and smooth alternate motion. With respect to an analogous mechanism realizing the same laws of motion, e.g., cams, this device is very compact and economical, also presenting parallel input and output shafts, and significantly reduces sliding and wear.

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Kumagai, Masaaki, and Kaoru Tamada. "Wheel Locomotion of a Biped Robot Using Passive Rollers – Large Biped Robot Roller Walking Using a Variable-Curvature Truck –." Journal of Robotics and Mechatronics 20, no. 2 (April 20, 2008): 206–12. http://dx.doi.org/10.20965/jrm.2008.p0206.

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This paper proposes the leg-wheel locomotion of a biped robot. The feet of the robot consist of wheels that move forward with the periodic motion of a leg under a double-leg support. There are many types of approach leg-wheel hybrid systems; however, biped system with passive wheels is rarely used. A special axle mechanism is introduced so that the wheels could smoothly track a curved path for propulsive motion. Finally, the robot achieves not only straight and circular motion but also pivoting motion that is significantly faster than walking, while implementing a minimal number of simple components. The concept of locomotion, function of the mechanism, and experimental results are described in this paper.

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Dong, Yu Hong, Zong Quan Deng, and Hai Bo Gao. "Wheel Velocity Analysis of a Rover with Six Wheels Independently Driven on Uneven Terrain." Key Engineering Materials 392-394 (October 2008): 335–640. http://dx.doi.org/10.4028/www.scientific.net/kem.392-394.335.

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In order to implement basic motion functions of lunar rover over uneven terrain, wheel kinematics of a novel lunar rover with each wheel independently driven was studied. In terms of mechanism principle and configuration features of the rover the kinematics model of wheels was set up by utilizing modified D-H method. The simulation analyses of wheels traversing over uneven terrain were carried out by using MATLAB software. The velocity simulation curves of wheels’ centers relative to rover body were acquired. The research results give motion parameters of wheels varying with rough terrain, and from the velocity simulation curves we can gain velocity control instructions of rover wheels over uneven terrain. It illustrates varying of lunar rover wheels’ velocity with uneven terrain. The paper provides a theoretical basis for accomplishing motion control and autonomously avoiding obstacles of lunar rover and so on.

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Song, Jeonghoon. "Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 222, no. 3 (March 1, 2008): 293–304. http://dx.doi.org/10.1243/09544070jauto662.

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This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.

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Holland, J. B., M. J. D. Hayes, and R. G. Langlois. "A SLIP MODEL FOR THE SPHERICAL ACTUATION OF THE ATLAS MOTION PLATFORM." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 711–20. http://dx.doi.org/10.1139/tcsme-2005-0048.

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The Atlas platform represents a novel six degree-of-freedom motion platform architecture. Orienting is decoupled from positioning, and unlimited rotations are possible about every axis. The decoupling is accomplished by fixing a three degree-of-freedom spherical orienting device, called the Atlas sphere, on a gantry with three orthogonal linear axes. The key to the design is three omni-directional wheels in an equilateral arrangement, which impart angular displacement to a sphere, providing rotational actuation. The free-spinning castor rollers provide virtually friction-free motion parallel to each omni-wheel rotation axis creating the potential for unconstrained angular motion. Since the sphere directly contacts the omni-wheels, there are no joints or links interfering with its motion, allowing full 360° motion about all axes. However, the kinematic constraints are non-holonomic. This paper explores the slip at the interface between each omni-wheel and the Atlas sphere. A kinematic slip model is presented, introducing the slip ratio, which is the ratio of the kth omni-wheel’s transverse velocity component, S⊥k, which is perpendicular to the free-spinning castor wheel axis, and the tangential velocity component, Stank, which is perpendicular to the omni-wheel driving axis, parallel to the tangential velocity vector, Vk. The long-term goal is to incorporate the slip model into a control law for position level control of the sphere. Two illustrative examples are given.

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Adamchuk, V., V. Bulgakov, V. Nadykto, and I. Golovach. "Theory of motion controllability of a wheel machine-tractor aggregate." Agricultural Science and Practice 3, no. 2 (July 15, 2016): 3–10. http://dx.doi.org/10.15407/agrisp3.02.003.

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Aim. To obtain analytically new dependencies, determining the indicator of motion controllability of a wheel machine-tractor aggregate, taking into consideration external forces, constructive and kinematic parameters of the aggregate while the latter moves in the transport mode. Methods. The methods of tractor and vehicle theories, theoretical mechanics, the theory of dynamic stability, and methods of numeric computer calculations. Results. A new theory of motion controllability of a wheel machine-tractor aggregate during its non-linear mo- tion along the surface of the soil at an angle to the horizontal was elaborated. The analytic expressions for the determination of the actual indicator of aggregate controllability, including force and constructive parameters of a machine-tractor aggregate, affecting this indicator in the longitudinal-vertical plane were made. The ana- lytic expressions were obtained for the transport mode of the aggregate movement. The conditions, in which cross slips of the directive wheels of the tractor with implements in the longitudinal plane were analytically considered for the fi rst time. The analytic expressions for the determination of the required indicator of the controllability of the machine-tractor aggregate in the longitudinal plane, excluding any possibility of a cross slip of the aggregate while turning its directive wheels at a certain angle, were defi ned. Conclusions. Computer calculations demonstrated that during the non-linear movement along the surface of the soil at an angle of 12 ° to the horizontal the wheel machine-tractor aggregate will be controllable only if the wheel turning angles for the tractor with implements do not exceed 9 ° . In case of the working motion of this aggregate along the slope, its controllability is preserved on condition that the turning angle of directive wheels does not exceed 11 ° . It was established that the controllability of the wheel machine-tractor aggregate is determined by the actual λ d and required λ о indicators of controllability, which take into consideration the values of the vertical load on the directive wheels of the power source, the possibility of their turn in the longitudinal plane, and the pull during the deviation from rectilinear motion when it moves along the surface at an angle to the horizontal.

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HAYES, M. J. D., and R. G. LANGLOIS. "ATLAS: A NOVEL KINEMATIC ARCHITECTURE FOR SIX DOF MOTION PLATFORMS." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 701–9. http://dx.doi.org/10.1139/tcsme-2005-0047.

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Conventional training simulators commonly use the hexapod configuration to provide motion cues. While widely used, studies have shown that hexapods are incapable of producing the range of motion required to achieve high fidelity simulation required in many applications. This paper presents an overview of the Atlas platform: a novel six DOF motion platform architecture. Orienting is decoupled from positioning, and unlimited rotations are possible about every axis of the mechanism. The decoupling is accomplished by fixing a three DOF spherical orienting device, called the Atlas sphere, on a gantry with three linear axes. The key to the design is three omni-directional wheels in an equilateral arrangement, which impart angular motions to a sphere, thereby providing rotational actuation. The omni-wheels and their castor rollers provide virtually friction-free motion parallel to each omni-wheel rotation axis creating the possibility for unconstrained rotational motion. Since the Atlas sphere rests on these omni-wheels, there are no joints or levers constraining its motion, allowing full 360° motion about all axes. The motivation, architecture, and potential applications for this motion platform are described.

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Alexandru, Cătălin. "A mechanical integral steering system for increasing the stability and handling of motor vehicles." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 231, no. 8 (December 30, 2015): 1465–80. http://dx.doi.org/10.1177/0954406215624465.

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The article deals with the design, modeling, and simulation of an innovative four-wheel steering system for motor vehicles. The study is focused on the steering box of the rear wheels, which is a cam-based mechanism, while the front steering system uses a classical pinion—rack gearbox. In the proposed concept, the four-wheel steering aims to improve the vehicle stability and handling performances by considering the integral steering law, which is formulated in terms of correlation between the steering angles of the front and rear wheels. In this regard, a double-profiled cam is designed, in correlation with the input motion law applied to the steering wheel. The cam profile dictates (prescribes) the translational movement of the rear follower, which is connected to the left and right steering tierods, turning—as appropriate—the rear wheels in the same direction (for stability) or in opposite (for handling) to the front wheels. The cam-based mechanism is able to carry out complex motion laws, providing accurate integral steering law. The dynamic modeling and simulation of the four-wheel steering vehicle was performed by using the Multi-Body Systems package Automatic Dynamic Analysis of Mechanical Systems of MSC.Software, the full-vehicle model containing also the front and rear wheels suspension systems, as well the vehicle chassis (car body). The dynamic simulations in virtual environment have resulted in important results that demonstrate the handling and stability performances of the proposed four-wheel steering system by reference to a classical two-wheel steering vehicle.

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Zhao, Jianwei, Yuanshuang Liu, Yuanyuan Qu, Feng Bian, and Yu Ban. "Model and simulation of four-wheeled robot based on Mecanum wheel." International Journal of Modeling, Simulation, and Scientific Computing 08, no. 02 (October 24, 2016): 1750015. http://dx.doi.org/10.1142/s1793962317500155.

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Based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheels, we combine these two kinds of wheels’ respective motion principle with their advantages to design a new type of four-wheeled robot: install the Mecanum wheels at the end of “[Formula: see text]”-shaped planetary wheel group. The wheel designed based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheel can adapt to the complex terrain such as stairs, steps, and at the same time it can achieve the rotation of the whole body in a limited space. This paper studies the adaptability of the four-wheeled robot to the stairs, analyzing and calculating the parameters of the four-wheeled robot and the stairs.

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Zeng, Wen, Guoyan Xu, Hui Jiang, and Feng Gao. "Development of a Novel Variable-Diameter Wheel." Applied Sciences 9, no. 21 (October 31, 2019): 4631. http://dx.doi.org/10.3390/app9214631.

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Variable-diameter wheels balance the high mobility and limited volume of a planetary rover. Moreover, these wheels allow a rover to adjust its body attitude to adapt to rough terrains. These functions are achieved through the expansion–retraction motion of the variable-diameter mechanisms in the wheels. Thus, the traditional wheel design focuses on these mechanisms. To further facilitate its application, we propose a new concept variable-diameter wheel that considers the mechanism characteristics and wheel performances. This new wheel configuration is presented along with the corresponding transmission system, design, and analysis methods. Kinematic equations of the mechanism were established and then applied to synthesize the wheel dimensions. The load–deflection relationship of the wheels was analytically derived by developing a modified pseudo-rigid-body model (PRBM). Finite element analysis (FEA) simulations were performed to validate the design and analysis. In conclusion, the proposed novel wheel is extremely beneficial for rough-terrain locomotion systems. Furthermore, the design and analysis approaches used in this study are applicable for other expandable wheels.

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Fujita, Masahiro, Akito Nomura, Hirone Komatsu, Eri Takane, Riichiro Tadakuma, Kenjiro Tadakuma, Masashi Konyo, and Satoshi Tadokoro. "Axial Wave Motion Wheel Mechanism." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 2A1—A10. http://dx.doi.org/10.1299/jsmermd.2017.2a1-a10.

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Chen, Keji, Xiaofei Pei, Guocheng Ma, and Xuexun Guo. "Longitudinal/Lateral Stability Analysis of Vehicle Motion in the Nonlinear Region." Mathematical Problems in Engineering 2016 (2016): 1–15. http://dx.doi.org/10.1155/2016/3419108.

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We focus on the study of motion stability of vehicle nonlinear dynamics. The dynamic model combining with Burckhardt tire model is firstly derived. By phase portrait method, the vehicle stability differences of three cases, front wheels steering/four-wheel steering case, front/rear/four-wheel braking case, and high/low road friction case, are characterized. With the Jacobian matrix, the stable equilibrium point is found and stable areas are calculated out. Similarly, the stability boundaries corresponding to different working conditions are also captured. With vehicle braking or accelerating in the steering process, the relationship between front/rear wheel slippage and the stable area is examined. Comparing with current literatures, the research method and its results present the novelty and provide a guideline for new vehicle controller design.

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Jia, Xin, and Hsin Guan. "A Vision Recognition Method of Wheel's Pose and Position Parameters in Bench Testing." Applied Mechanics and Materials 427-429 (September 2013): 45–48. http://dx.doi.org/10.4028/www.scientific.net/amm.427-429.45.

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IA method is proposed here to recognize wheels pose and position parameters with computer vision aiming to the need of measuring wheel moving track in suspension bench testing. Firstly, several markers are fit on the target wheel manually. Secondly, image coordinates of character points is calculated with image processing method and least square ellipse fitting algorithm. At last, wheels pose and position parameters are calculated with rigid body motion POSIT algorithm, and then wheel moving track is measured in test. The algorithm of wheels pose and position parameters in bench testing based on the computer vision here will supply the base under the realization of the moving wheels pose and position parameters recognizing in real time.

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Schwering, Jane M., Mila J. E. Kanevsky, M. John D. Hayes, and Robert G. Langlois. "Atlas motion platform split-axle mecanum wheel design." Transactions of the Canadian Society for Mechanical Engineering 44, no. 4 (December 1, 2020): 492–500. http://dx.doi.org/10.1139/tcsme-2019-0169.

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The Atlas motion platform was conceptually introduced in 2005 as a 2.90 m diameter thin-walled composite sphere housing a cockpit. Three active mecanum wheels provide three linearly independent torque inputs enabling the sphere to enjoy a 100% dexterous reachable workspace with unbounded rotations about any axis. Three linearly independent translations of the sphere centre, decoupled from the orientation workspace, are provided by a translational three degree-of-freedom platform. Small-scale and half-scale demonstrators introduced in 2005 and 2009, respectively, gave us the confidence needed to begin the full-scale design. Actuation and control of the Atlas full-scale design is nearing completion; however, resolution of several details have proven extremely elusive. The focus of this paper is on the design path of the 24 passive mecanum wheels. The 12 passive wheels below the equator of the sphere help distribute the static and dynamic loads, while 12 passive wheels above the equator, attached to a pneumatically actuated halo, provide sufficient downward force so that the normal force between the three active wheel contact patches and sphere surface enable effective torque transfer. This paper details the issues associated with the original twin-hub passive wheels and the resolution of those issues with the current split-axle design. Results of static and dynamic load tests are discussed.

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Siravuru, Avinash, Suril V. Shah, and K. Madhava Krishna. "An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization." Robotica 35, no. 2 (September 1, 2015): 463–82. http://dx.doi.org/10.1017/s0263574715000685.

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SUMMARYThis paper discusses the development of an optimal wheel-torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot. For this type of robots, wheel-slip could offer a lot of hindrance while traversing on uneven terrains. Therefore, an effective wheel-torque controller is desired that will also improve the wheel-odometry and minimize power consumption. In this work, an optimal wheel-torque controller is proposed that minimizes the traction-to-normal force ratios of all the wheels at every instant of its motion. This ensures that, at every wheel, the least traction force per unit normal force is applied to maintain static stability and desired wheel speed. The lower this is, in comparison to the actual friction coefficient of the wheel-ground interface, the more margin of slip-free motion the robot can have. This formalism best exploits the redundancy offered by a modularly designed robot. This is the key novelty of this work. Extensive numerical and experimental studies were carried out to validate this controller. The robot was tested on four different surfaces and we report an overall average slip reduction of 44% and mean wheel-torque reduction by 16%.

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Kopczyński, Artur, and Paweł Roszczyk. "Power distribution in multi-motor (AWD) powertrain of electric vehicle." E3S Web of Conferences 100 (2019): 00038. http://dx.doi.org/10.1051/e3sconf/201910000038.

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This article presents the results of analysis of power distribution in an electric vehicle independent all-wheel drive. The utilized method of velocity distribution takes into account the change in the motion resistance occurring on particular wheel. Moreover, the method of determining the change of vertical loads on traction wheels is also described. Theoretical considerations were verified on a dedicated laboratory stand that allows to perform real time simulation for analysed powertrain structure. The results of two different scenarios of vehicle driving in curvilinear motion are presented.

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Huang, Wei Dong, Jin Song Bao, and You Sheng Xu. "Terramechanics Model and Motion Control Strategy Simulation for down-Slope Travel of a Lunar Rover." Applied Mechanics and Materials 215-216 (November 2012): 1291–97. http://dx.doi.org/10.4028/www.scientific.net/amm.215-216.1291.

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Slopes are a typical terrain of the rugged lunar surface. Using a modified model for wheel-terrain interaction, a terramechanics model for down-slope travel of a lunar rover is established. In order to describe the soil sinkage of different wheels more accurately, soil deformation by the front wheels is taken into account and the front and rear wheel sinkages are calculated separately. Finally, a motion control strategy for rover descent is proposed based upon analysis of its descending course, and validated by simulation in a 3D lunar rover visual simulation platform.

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Facchini, G., K. Sekimoto, and S. Courrech du Pont. "The rolling suitcase instability: a coupling between translation and rotation." Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences 473, no. 2202 (June 2017): 20170076. http://dx.doi.org/10.1098/rspa.2017.0076.

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A two-wheel suitcase or trolley can exhibit undamped rocking oscillations from one wheel to the other when pulled fast enough. We study this instability both experimentally—with a toy model of a suitcase rolling on a treadmill—and theoretically. The suitcase oscillates only if a finite perturbation is applied. This is because intrinsic dissipation occurs when the supporting wheel switches. When unstable, the suitcase either increasingly rocks until overturning or reaches a stable limit cycle. The friction force at the rolling wheels constrains wheels to roll without slipping. This constraint imposes a coupling between the translational motion and the three-dimensional rotational motion of the suitcase that drives the rocking instability. The same behaviours are observed in the experiments and in the simulations. The asymptotic scaling laws we observe in the simulations are explained by means of a simplified model where the coupling force is explicit.

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Horvath, Hanna Zsofia, and Denes Takacs. "MODELLING AND SIMULATION OF ROCKING SUITCASES." Acta Polytechnica CTU Proceedings 18 (October 23, 2018): 61. http://dx.doi.org/10.14311/app.2018.18.0061.

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The rocking motion of two-wheeled suitcases is investigated. A rigid body mechanical model of the suitcase is constructed. All of the possible motion states (both wheels on the ground, one wheel on the ground, none of the wheels on the ground) are taken into account. The switching between the motion states is accomplished by a simple impact model. The motion of the suitcase is investigated through numerical simulations, furthermore the domain of the attraction of the stable rectilinear motion is identified. The model is partly validated by experiments.

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West, M., and H. Asada. "Design of Ball Wheel Mechanisms for Omnidirectional Vehicles With Full Mobility and Invariant Kinematics." Journal of Mechanical Design 119, no. 2 (June 1, 1997): 153–61. http://dx.doi.org/10.1115/1.2826230.

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A new ball wheel design for fully mobile omnidirectional vehicles is presented. This ball wheel mechanism yields a unique vehicle design that is not only omnidirectional with no kinematic singularity but is configuration-invariant in kinematic behavior. Invariant kinematics greatly simplifies the control of smooth and precise vehicle motion. Multiple displacement sensors are easily incorporated into each ball wheel mechanism to enhance the accuracy of vehicle motion control. Two fundamental requirements of functioning ball wheel designs are established: one is the translational form closure requirement for holding a spherical tire, and the other is the non-overconstraint requirement to allow each ball to rotate in two directions. It is proved that a class of mechanisms in which a ball is held by rollers whose axes are fixed directly to the vehicle chassis cannot satisfy the fundamental requirements. A class of modified mechanisms are then analyzed and the necessary and sufficient conditions for the modified mechanisms the fundamental requirements are obtained. For this class of ball wheels (Class 1), conditions for configuration-invariant kinematics are found and two possible actuation schemes are discussed. Two prototype vehicles have been built: both have three Class 1 ball wheels but each uses a different actuation scheme. Performance data of the two prototypes are compared. Both achieve smooth motion and precise dead reckoning.

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Ishigami, Genya, Jim Overholt, and Karl Iagnemma. "Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles." Journal of Robotics and Mechatronics 24, no. 1 (February 20, 2012): 261–67. http://dx.doi.org/10.20965/jrm.2012.p0261.

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In this paper, a novel wheel design utilizing the anisotropic friction property for omnidirectional vehicles is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the low friction section enables the wheel to passively skid. The wheels are arranged such that the robot wheel exhibits high traction in its drive direction (much like a conventional tire), but low traction when sliding laterally. Exploiting this “anisotropic friction” property, the proposed wheel enables a vehicle to realize omnidirectional motion (i.e., the vehicle can move any direction within the plane - forward, back, or laterally). While many other omnidirectional wheel drives exist, the proposed wheel is simpler than any other existing design because the wheel is composed of a single, moldable element. This paper summarizes the design of the proposed wheel and presents experimental comparisons between an omnidirectional robot using the proposed wheel and an omnidirectional robot using conventional wheels.

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Şahin, Osman Nuri, and Mehmet İsmet Can Dede. "Investigation of longitudinal friction characteristics of an omnidirectional wheel via LuGre model." Robotica 39, no. 9 (February 3, 2021): 1654–73. http://dx.doi.org/10.1017/s0263574720001423.

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SUMMARYIn recent years, omnidirectional wheels have found more applications in the design of automated guided vehicles (AGV). In this work, LuGre friction model is used for an omnidirectional wheel. A test setup that includes a single omnidirectional wheel is designed and constructed to identify the model parameters. With the help of the constructed test setup, the longitudinal friction characteristic of the omnidirectional wheel is obtained, and the model is verified via validation tests. In addition, for the first time, the effect of lateral frictional force on longitudinal motion is examined for an omnidirectional wheel through experiments.

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Basu-Mandal, Pradipta, Anindya Chatterjee, and J. M. Papadopoulos. "Hands-free circular motions of a benchmark bicycle." Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences 463, no. 2084 (June 5, 2007): 1983–2003. http://dx.doi.org/10.1098/rspa.2007.1849.

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We write nonlinear equations of motion for an idealized benchmark bicycle in two different ways and verify their validity. We then present a complete description of hands-free circular motions. Three distinct families exist. (i) A handlebar-forward family, starting from capsize bifurcation off straight-line motion and ending in unstable static equilibrium, with the frame perfectly upright and the front wheel almost perpendicular. (ii) A handlebar-reversed family, starting again from capsize bifurcation but ending with the front wheel again steered straight, the bicycle spinning infinitely fast in small circles while lying flat in the ground plane. (iii) Lastly, a family joining a similar flat spinning motion (with handlebar forward), to a handlebar-reversed limit, circling in dynamic balance at infinite speed, with the frame near upright and the front wheel almost perpendicular; the transition between handlebar forward and reversed is through moderate-speed circular pivoting, with the rear wheel not rotating and the bicycle virtually upright. Small sections of two families are stable.

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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 (May 6, 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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Dooner, David B., Antonio Palermo, and Domenico Mundo. "AN INTERMITTENT MOTION MECHANISM INCORPORATING A GENEVA WHEEL AND A GEAR TRAIN." Transactions of the Canadian Society for Mechanical Engineering 38, no. 3 (September 2014): 359–72. http://dx.doi.org/10.1139/tcsme-2014-0026.

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This paper presents a kinematic study of a mechanism incorporating a Geneva wheel and a gear train to achieve intermittent motion. The goal of this mechanism is to eliminate the acceleration jump at the beginning and end of the Geneva wheel motion. An epitrochoidal path replaces the circular path for the driving pin in a classical Geneva wheel drive. The epitrochoidal path is generated using a gear train and results in zero velocity, acceleration, and jerk at the beginning and end of the Geneva wheel motion. Presented is a comparison of the position, velocity, acceleration, and jerk between the classical Geneva wheel mechanism and the proposed mechanism. Subsequently, the motion of the Geneva wheel is modified by introducing a non-circular gear pair to adjust the timing of the epitrochoidal path. The motion of the non-circular gear pair is determined by reducing the extreme jerk of the Geneva wheel.

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Jaskot, Anna, and Bogdan Posiadała. "Analysis of motion of the three wheeled mobile platform." MATEC Web of Conferences 157 (2018): 01008. http://dx.doi.org/10.1051/matecconf/201815701008.

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The work is dedicated to the designing motion of the three wheeled mobile platform under the unsteady conditions. In this paper the results of the analysis based on the dynamics model of the three wheeled mobile robot, with two rear wheels and one front wheel has been included The prototype has been developed by the author's construction assumptions that is useful to realize the motion of the platform in a various configurations of wheel drives, including control of the active forces and the direction of their settings while driving. Friction forces, in longitudinal and in the transverse directions, are considered in the proposed model. Relation between friction and active forces are also included. The motion parameters of the mobile platform has been determined by adopting classical approach of mechanics. The formulated initial problem of platform motion has been solved numerically using the Runge-Kutta method of the fourth order. Results of motion analysis with motion parameters values are determined and sample results are presented.

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Rosenblat, Grigory, Vladimir Tishkin, and Vladimir Yashin. "Model of Carriage Movement on Plane with Dry Friction Forces." International Journal of Online and Biomedical Engineering (iJOE) 16, no. 08 (July 17, 2020): 85. http://dx.doi.org/10.3991/ijoe.v16i07.14551.

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Wheel slip model is an important aspect of vehicle driving stability and safety control. However, in most of the carriage movement models friction forces and wheel slip effect are being neglected. This paper raises the problem of wheel slip in dangerous driving and autonomous vehicles under critical driving modes, then tasks the modeling of movement of an individual vehicle is considered. These are two tasks of nonholonomic mechanics: 1) the movement of a wheelset without wheel slip (two disks freely mounted on an axis) along an inclined plane in the field of gravity, and 2) the movement of a flat wheel model, which, under certain assumptions, can be a four-wheeled carriage. In these tasks, in addition to the standard dynamics (continuous motion without wheel slip), critical situations can also be observed associated with wheel sleep and separation of wheels from plane.

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Vil’ke, V. G., and A. A. Semenov. "Motion of a wheel on snow." Moscow University Mechanics Bulletin 71, no. 3 (May 2016): 58–64. http://dx.doi.org/10.3103/s002713301603002x.

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Hu, Shimin, Hongyu Chen, and Yang Shao. "Triangular Omnidirectional Wheel Motion Control System." OALib 07, no. 08 (2020): 1–8. http://dx.doi.org/10.4236/oalib.1106677.

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Earls, Clive W. "Setting the Catherine wheel in motion." Language Problems and Language Planning 37, no. 2 (September 6, 2013): 125–50. http://dx.doi.org/10.1075/lplp.37.2.02ear.

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In today’s world, internationalisation is the key to survival for higher education institutions (HEIs). Many argue that English has become the most used language worldwide, the international language of wider communication in a variety of domains ranging from the professional to everyday life. Consequently, non-English speaking countries have entered into a process of introducing English-medium higher education as a means of overcoming any competitive disadvantage associated with their particular linguistic situation. As a result, an ideology has emerged amongst HEIs in non-English-speaking countries that internationalisation is synonymous with the introduction of English-medium degree programmes. This development has implications for the position of national languages in their higher education systems, and consequently as international languages of communication. It is, therefore, necessary to investigate the extent to which the adoption of such language-in-education reforms may potentially act as an impetus to a wider language shift in the countries comprising Kachru’s “expanding circle.” This paper explores the current process of “Englishization” within the German higher education system. By means of Strubell’s “Catherine Wheel” conceptual model, a potential language shift from German to English is postulated and its ramifications for German’s status and role as an international language are discussed.

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Weiss, A., R. G. Langlois, and M. J. D. Hayes. "Dynamics and vibration analysis of the interface between a non-rigid sphere and omnidirectional wheel actuators." Robotica 33, no. 9 (May 1, 2014): 1850–68. http://dx.doi.org/10.1017/s0263574714001088.

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SUMMARYThis paper presents analysis of the dynamics and vibration of an orientation motion platform utilizing a sphere actuated by omnidirectional wheels. The purpose of the analysis is to serve as a design tool for the construction of a six-degree-of-freedom motion platform with unlimited rotational motion. The equations of motion are presented taking flexibility of the system into account. The behaviour of the system is illustrated by sample configurations with a range of omnidirectional wheel types and geometries. Vibration analysis follows, and sensitivity to various parameters is investigated. It is determined that the geometry of omnidirectional wheels has a significant effect on the behaviour of the system.

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Rao, Wei, Jia Dong Shi, and Jian Zhong Wang. "Dynamic Analysis for Articulated-Tracked Robot Climbing Stairs." Advanced Materials Research 889-890 (February 2014): 483–87. http://dx.doi.org/10.4028/www.scientific.net/amr.889-890.483.

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Climbing stairs is one of the important functions of the articulated-tracked robot obstacle, the robot can be improved through the complex terrain capability. The robot is conducted action planning for climbing stair. Action planning of the robot, speed and acceleration of position change of the robot's center of mass, moment of inertia of driving wheels and arm wheels for influence of the robot dynamic feature are considered, complex dynamic models of the robot to climb stairs are built. The relationships of driving wheel torque, arm wheel torque and its different speed, acceleration, staircases height, angle of the robot and the stairs are analyzed by simulations, maximum driving torques of driving wheel and arm wheel are obtained in the process of robot climbing stairs, a theoretical basis for articulated-tracked robot selecting the appropriate driving torque and motion control are provided.

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Sun, Zhang Jun, Jing Long Yan, Chao Quan Li, Yue Ju Li, and Chao Di. "Design and Simulation of a Variable Structure Mobile Robot." Applied Mechanics and Materials 457-458 (October 2013): 672–76. http://dx.doi.org/10.4028/www.scientific.net/amm.457-458.672.

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Combined with the advantages of good protection of global robot, self-equilibrium, easy control of wheeled robot and strong obstacle surmounting ability of turbofan robot, a variable structure mobile robot which has three kinds of basic modalities of global, turbofan and three-wheel is designed. The balancing leg is retracted and the two polymorphic wheels of the robot are closed into a sphere while in the global state, and it could be conveniently threw, carried and make all directional movements on the flat grounds. When confronted with the complicated terrain environments of sand, slopes etc., the two polymorphic wheels will be outspread to the turbofan state, and the balancing leg will be opened out as a third supporting wheel so as to strengthen the ability to adapt to the environment. When the two polymorphic wheels are expanded into two wheels, the robot motions are more smoothly and easily to be controlled. A virtual prototype of the robot is designed by three-dimensional technology, as well as the motion simulation. Rationality of the mechanism design scheme of the variable structure mobile robot is verified.

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Zhao, Jie, and Yan Wang. "Analysis and research on wheel steering motion of four-wheel locomotive." Journal of Physics: Conference Series 1545 (May 2020): 012010. http://dx.doi.org/10.1088/1742-6596/1545/1/012010.

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Liang, Ji Hui, and Li Li Xin. "ADAMS-Based Double Wishbone Suspension Motion Simulation and Optimization." Applied Mechanics and Materials 128-129 (October 2011): 34–37. http://dx.doi.org/10.4028/www.scientific.net/amm.128-129.34.

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It uses ADAMS software to establish the double wishbone suspension kinematics analysis model to analyze the rules of front wheel alignment parameter changing with wheel run-out and evaluate the rationality of the suspension system data. For the problem of too much side slippage and serious abrasion of front wheel of suspension, it carries out optimization computing for the suspension based on the target of minimizing the front wheel side slippage during wheel run-out. And the optimization result improves the suspension system performance in a certain extent.

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Palacín, Jordi, David Martínez, Elena Rubies, and Eduard Clotet. "Suboptimal Omnidirectional Wheel Design and Implementation." Sensors 21, no. 3 (January 28, 2021): 865. http://dx.doi.org/10.3390/s21030865.

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The optimal design of an omnidirectional wheel is usually focused on the minimization of the gap between the free rollers of the wheel in order to minimize contact discontinuities with the floor in order to minimize the generation of vibrations. However, in practice, a fast, tall, and heavy-weighted mobile robot using optimal omnidirectional wheels may also need a suspension system in order to reduce the presence of vibrations and oscillations in the upper part of the mobile robot. This paper empirically evaluates whether a heavy-weighted omnidirectional mobile robot can take advantage of its passive suspension system in order to also use non-optimal or suboptimal omnidirectional wheels with a non-optimized inner gap. The main comparative advantages of the proposed suboptimal omnidirectional wheel are its low manufacturing cost and the possibility of taking advantage of the gap to operate outdoors. The experimental part of this paper compares the vibrations generated by the motion system of a versatile mobile robot using optimal and suboptimal omnidirectional wheels. The final conclusion is that a suboptimal wheel with a large gap produces comparable on-board vibration patterns while maintaining the traction and increasing the grip on non-perfect planar surfaces.

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Chen, Wen. "The Analysis of Dynamic Performance on Four-Wheel Steering Vehicle Model." Advanced Materials Research 308-310 (August 2011): 767–70. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.767.

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Four-wheel steering (4WS) is an advanced vehicle control technique which can improve steering characteristics. Compared with traditional two wheel steering (2WS) vehicles, 4WS vehicle can steer the front wheels and the rear wheels individually when cornering, according to the vehicle motion states such as vehicle speed, yaw velocity and lateral acceleration. Therefore, 4WS can enhance the handling stability and improve the active safety for vehicle. In this paper, the motion characteristics of 4WS vehicle are analyzed. The steering dynamics model of vehicle is established, and the transfer function of deflection angle of mass center to steering angle of 4WS vehicle is deduced. The handling stability of 4WS vehicle is researched by virtue of Matlab/simulink, Simulation results show that the 4WS vehicle is agile to and consistent with steering input and the transient handling stability is improved distinctly without increasing driver’s handling burden.

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Yang, Jian, Fang-Hong Sun, and Zheng Lu. "Solving the screw compressor rotor-forming grinding wheel using the edge detection method based on the graphic method." Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering 233, no. 5 (January 2, 2019): 967–79. http://dx.doi.org/10.1177/0954408918818281.

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As a complex grinding wheel for special use, the screw compressor rotor-forming grinding wheel needs to be designed according to the specific profile of the workpiece. The design process is complicated and difficult to grasp, and various design issues are likely to occur. This study is based on the design theory of helical rotor-forming grinding wheels. Here, disc-shaped forming grinding wheels for machining a helical surface were studied, with discrete point workpiece cross-sections as examples. MATLAB was used as the development tool, and the Unigraphics motion simulation function was applied to establish a 3D model of screw rotors and design the forming grinding wheel for machining the helical surface. Additionally, the edge shape of the grinding wheel obtained with the analytical method and the edge shape obtained with the edge detection method based on the graphic method and the alpha-shape algorithm were compared. The results of this comparison show that the edge shape of the grinding wheel obtained by the edge detection method had high precision and was easy to solve. This method can also be used for the design of other similar conjugated products such as gears, worms, and grinding wheels. The research findings provide important reference value for the design and machining of screw rotors and grinding wheels.

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Žuraulis, Vidas, Loreta Levulytė, and Edgar Sokolovskij. "THE IMPACT OF ROAD ROUGHNESS ON THE DURATION OF CONTACT BETWEEN A VEHICLE WHEEL AND ROAD SURFACE." TRANSPORT 29, no. 4 (December 16, 2014): 431–39. http://dx.doi.org/10.3846/16484142.2014.984330.

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The paper analyses the impact of the road micro-profile on the duration and the type of the vehicle wheel contact with the road surface driving at different speed. The selected vehicle bicycle model describes vertical displacements of front and rear wheels and their suspension as well as the impact of the vehicle body motion and longitudinal oscillation. International Roughness Index (IRI) and micro-profile irregularities of the road section analysed in the paper were identified using specialized road testing equipment. The experimental investigations measuring the vehicle suspension displacement and the body acceleration were carried out. Frequency characteristics of suspension motion and regularities of vertical movement of the wheel were identified after dividing the investigated road section according to driving modes. The analysis into the wheel contact with the road surface and identified correlations enable to determine the vehicle stability on selected quality roads.

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Jun, Seung Kook, Glenn D. White, and Venkat N. Krovi. "Kinetostatic Design Considerations for an Articulated Leg-Wheel Locomotion Subsystem." Journal of Dynamic Systems, Measurement, and Control 128, no. 1 (November 22, 2005): 112–21. http://dx.doi.org/10.1115/1.2168481.

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Our long-term goal is one of designing land-based vehicles to provide enhanced uneven-terrain locomotion capabilities. In this paper, we examine and evaluate candidate articulated leg-wheel subsystem designs for use in such vehicle systems. The leg-wheel subsystem designs under consideration consist of disk wheels attached to the chassis through an articulated linkage containing multiple lower-pair joints. Our emphasis is on creating a design that permits the greatest motion flexibility between the chassis and wheel while maintaining the smallest degree-of-freedom (DOF) within the articulated chain. We focus our attention on achieving two goals: (i) obtaining adequate ground clearance by designing the desired/feasible motions of the wheel axle, relative to the chassis, using methods from kinematic synthesis; and (ii) reducing overall actuation requirements by a judicious mix of structural equilibration design and spring assist. This process is examined in detail in the context of two candidate single-degree-of-freedom designs for the articulated-leg-wheel subsystems—a coupled-serial-chain configuration and a four-bar configuration. We considered the design synthesis of planar variants of the two candidate designs surmounting a representative obstacle profile while supporting a set of end-effector loads and highlight the key benefits in the presented results.

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Ning, Meng, Bilun Xue, Zefeng Ma, Changhong Zhu, Zihao Liu, Cuncai Zhang, Yao Wang, and QiuJu Zhang. "Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure." Mathematical Problems in Engineering 2017 (2017): 1–16. http://dx.doi.org/10.1155/2017/5719381.

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A wheel-legged rescue robot design with strong environmental adaptability is proposed. The design presented is aimed at helping rescue workers complete their missions, such as environmental and personnel search, quickly and accurately. So it has broad application prospects. In order to achieve the advantages of simple structure, easy control, small occupation space, and wide motion range, a wheel-legged rescue robot is designed in this paper, and the robot can realize three kinds of motion states, which include wheel state, rotation center lifting process, and leg state. Then the motion states are analyzed in detail, which provides a reference for motion control. Considering the wheel state and leg state share the same structure to contact with the ground, the effect of the stiffness of wheel-legged structure to the motion performance is analyzed. Then the experiment is carried out to prove the feasibility of the structure design. This study offers a design and quantitative analysis for wheel-legged rescue robot. Furthermore, a basis for future control research and engineering applications is established.

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Barke, D. W., and W. K. Chiu. "A Review of the Effects of Out-Of-Round Wheels on Track and Vehicle Components." Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 219, no. 3 (May 1, 2005): 151–75. http://dx.doi.org/10.1243/095440905x8853.

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Out-of-round rollingstock wheels are caused by skidding or spalling of the wheel tread and by dynamic motion of wheels and wheelsets in service. Out-of-round wheels generate impact forces at the wheel-rail interface, which are transferred to train and to track components including rail and both bolted and welded rail joints, prestressed concrete sleepers, ballast, wheels, and bearings. To make a rational decision about removing out-of-round wheels from service, estimation of the damage caused by an individual wheel is required. Previous studies have used analytical and numerical models to illustrate the distribution of impact into track and rolling stock components. These models are compared here. The review details mathematical models and studies of the lives of the earlier-listed components, which would provide a means of determining the damage caused by impacting wheels. In addition, studies have found that impacting wheels increase fuel consumption and increase pass-by noise levels, which are also discussed here. Further study of the effect of impacting wheels on axle bearing lives, parent rail, and bridges would improve this decision-making tool. It is envisaged that these models would be combined to determine the total cost of operating rolling stock with impacting wheels. This could be offset against the cost of wheelset maintenance to determine when an impacting wheel should be reprofiled.

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Huang, Yonghua, Qizheng Liao, Lei Guo, and Shimin Wei. "Simple realization of balanced motions under different speeds for a mechanical regulator-free bicycle robot." Robotica 33, no. 9 (May 15, 2014): 1958–72. http://dx.doi.org/10.1017/s026357471400112x.

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SUMMARYMechanical regulator-free bicycle robots have lighter weight and fewer actuators than the traditional regulator-based bicycle robots. In order to deal with the difficulty of maintaining balance for this kind of bicycle robot, we consider a front-wheel drive and mechanical regulator-free bicycle robot. We present the methodologies for realizing the robot's ultra-low-speed track-stand motion, moderate-speed circular motion and high-speed rectilinear motion. A simplified dynamics of the robot is developed using three independent velocities. From the dynamics, we suggest there may be an underactuated rolling angle in the system. Our balancing strategies are inspired by human riders' experience, and our control rules are based on the bicycle system's underactuated dynamics. In the case of track-stand and circular motion, we linearize the frame's rolling angle and configure the robot to maintain balance by the front-wheel's motion with a fixed front-bar turning angle. In the case of the rectilinear motion, we linearize both front-bar steering angle and front-wheel rotating angle, and configure the system to maintain balance by the front-bar's turning with a constant front-wheel rotating rate. Numerical simulations and physical experiments are given together to validate the effectiveness of our control strategies in realizing the robot's proposed three motions.

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Uchida, Yasuyuki, Kazuya Furuichi, and Shigeo Hirose. "Evaluation of Wheel Performance on Rough Terrain and Development of HS Wheel." Journal of Robotics and Mechatronics 12, no. 5 (October 20, 2000): 593–602. http://dx.doi.org/10.20965/jrm.2000.p0593.

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We are in the process of development of the ""HELIOS-V"", which is equipped with 4 1ow-pressure tires outside and 2 high-pressure tires inside. This vehicle is designed to acquire the performance to ascend and descend stairs using low-pressure tires and move effectively on even ground by using high-pressure tires. To make the most of the characteristics of the vehicle, we have to understand the performance of the wheels in accordance with the terrain condition quantitatively. Therefore we constructed an experiment setup to evaluate performance of wheels on several terrain conditions without influence of the vehicle motion. By this experiment, we compared a low-pressure tire with a high-pressure tire and showed superiority of a low-pressure tire on rough terrain. We also evaluated 2 kinds of tires with slits and ribs to make grip force. Based on these considerations, we developed a Hard-Soft Wheel, or HS Wheel having both of the advantages of a low-pressure and high-pressure tire.

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KIMURA, Hiroshi, Eiji NAKANO, and Youichi NONAKA. "Development of Leg-Wheel Robot and Cooperational Motion of Legs and Wheels." Journal of the Robotics Society of Japan 10, no. 4 (1992): 520–25. http://dx.doi.org/10.7210/jrsj.10.520.

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NAKANO, Eiji, Hiroshi KIMURA, and Youichi NONAKA. "Development of Leg-Wheel Robot and Cooperational Motion of Legs and Wheels." Transactions of the Japan Society of Mechanical Engineers Series C 58, no. 551 (1992): 2138–43. http://dx.doi.org/10.1299/kikaic.58.2138.

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Markov, D. P. "Tribology of rail bogie." Vestnik of the Railway Research Institute 77, no. 4 (August 28, 2018): 230–40. http://dx.doi.org/10.21780/2223-9731-2018-77-4-230-240.

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Railway bogie is the basic element that determines the force, kinematic, power and other parameters of the rolling stock, and its movement in the railway track has not been studied enough. Classical calculation of the kinematic and dynamic parameters of the bogie's motion with the determination of the position of its center of rotation, the instantaneous axes of rotation of wheelsets, the magnitudes and directions of all forces present a difficult problem even in quasi-static theory. The paper shows a simplified method that allows one to explain, within the limits of one article, the main kinematic and force parameters of the bogie movement (installation angles, clearance between the wheel flanges and side surfaces of the rails), wear and contact damage to the wheels and rails. Tribology of the railway bogie is an important part of transport tribology, the foundation of the theory of wheel-rail tribosystem, without which it is impossible to understand the mechanisms of catastrophic wear, derailments, contact fatigue, cohesion of wheels and rails. In the article basic questions are considered, without which it is impossible to analyze the movement of the bogie: physical foundations of wheel movement along the rail, types of relative motion of contacting bodies, tribological characteristics linking the force and kinematic parameters of the bogie. Kinematics and dynamics of a two-wheeled bogie-rail bicycle are analyzed instead of a single wheel and a wheelset, which makes it clearer and easier to explain how and what forces act on the bogie and how they affect on its position in the rail track. To calculate the motion parameters of a four-wheeled bogie, it is represented as two two-wheeled, moving each on its own rail. Connections between them are replaced by moments with respect to the point of contact between the flange of the guide wheel and the rail. This approach made it possible to give an approximate estimation of the main kinematic and force parameters of the motion of an ideal bogie (without axes skewing) in curves, to understand how the corners of the bogie installation and the gaps between the flanges of the wheels and rails vary when moving with different speeds, how wear and contact injuries arise and to give recommendations for their assessment and elimination.

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ADACHI, Masahito, Yoshiaki TERUMICHI, Yoshihiro SUDA, and Kiyoshi SOGABE. "Analysis on Wheel Load Variation in Coupled Motion between Wheel and Track." Transactions of the Japan Society of Mechanical Engineers Series C 73, no. 727 (2007): 748–55. http://dx.doi.org/10.1299/kikaic.73.748.

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Hu, Jia-Sheng, Xin-Cheng Lin, Dejun Yin, and Feng-Rung Hu. "Dynamic motion stabilization for front-wheel drive in-wheel motor electric vehicles." Advances in Mechanical Engineering 7, no. 12 (December 2015): 168781401562369. http://dx.doi.org/10.1177/1687814015623694.

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Journal articles on the topic 'Motion of the wheel'

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