Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel con...

A numerical study was conducted using the discrete element method (DEM) to investigate the performance and mobility impacts of rough terrain operation for small unmanned ground vehicles. The DEM simulation was validated using experimental data from two types of single-wheel tests previously published in the literature: straight-line locomotion over flat, level soil, and wheel-digging. Results f...

One of the most important aspects in operation rail vehicles is implementation transport while ensuring safety and comfort passengers. Technical condition wheel rolling surfaces has a direct impact on these factors. These elements are subject to wear tear continuous discrete form. forms wheel-flat that generate impulse noise. This translates into significant deterioration vibroacoustic comfort,...

This paper discusses the mechanics of a rigid rimless spoked wheel, or regular polygon, ‘rolling’ downhill. By rolling, we mean motions in which the wheel pivots on one ‘support’ spoke until another spoke collides with the ground, followed by transfer of support to that spoke, and so on. We carry out three-dimensional numerical and analytical stability studies of steady motions of this system. ...