ESTIMATING THE LATERAL FORCES THAT IMPACT ON THE WHEELS OF A TRANSPORT ROBOTIC SYSTEM

A method for calculating the wheels lateral forces is proposed to analyze ways increase speed of robotic system without wheel slippage appearance, The analysis allows synthesize a rational algorithm distributing load between drives. In addition, it use vector space represent kinematic energy, which simplify simulation instant center rotation movements and control development. first part article devoted finding relationship summary force drives traction forces; changing distance rotation; movement current entire system. listed relationships are found through constraints energy conservation law. second evaluation acting on each wheel. Thus, value reduced reaction quasi-static model an elastic used. Examples using shown: comparison maximum possible speeds motion different distribution moments arrangement drive in carried out.