A dynamic model is presented for omnidirectional wheeled mobile robots, including wheel/motion surface slip. We derive the dynamics model, experimentally measure friction coefficients, and measure the force to cause slip (to validate our friction model). Dynamic simulation examples are presented to demonstrate omnidirectional motion with slip. After developing an improved friction model, compar...

To fulfill the microassembly work successfully, an omnidirectional mobile microrobot is presented. To finish the micron size task, the positioning precision of the robot is highly important. But some unpredictable factors, especially the slip effect in wheel, would affect the precision of the robot and cause unwanted deviation. To limit the deviation and optimize the positioning performance of ...

Many parameters such as dynamic load of tractor drive wheels influence the traction of tractors. An increase in dynamic load of drive wheel increases the net traction, but excess dynamic load decreases the tractive efficiency that must be avoided. Development of tractor-mounted implements due to good maneuvering and weight transfer from front axle to rear axle led to effective performance of tr...

This pre-study examines needs and measurements of wheel slip for a forest machine. The study was divided in two major parts. One part was a literature study of relevant work previously done in the area of wheel slip The other part was preliminary field tests carried out on a Valmet 830 forwarder. The report is organised as follows: Section 2 gives a brief overview of the motives for studying sl...

field capacity, fuel consumption and drive wheel slippage in massey ferguson (mf399) tractor with standard and liquid ballasted (630 kg) axle load and at 4wd mode was evaluated and compared. the tests were conducted at the experimental station, college of agriculture, shiraz university, in a field with clay loam soil at average moisture content of 18% d.b. the experiment was of a randomized com...

This paper addresses issues in the design of wheel grousers for planetary rovers. It has been shown in prior and related work that grousers on wheel rims can improve traveling performance of rovers on loose soils. However, the main focus of these studies, so far, has been limited to straight grousers and to straight line motion of the wheels. This work extends such studies to include chevron-sh...

The existing energy management strategies for four-wheel-drive electric vehicles only take into account the vehicle consumption under static adhesion constraints. However, front and rear axle loads transfer dynamic conditions lead to variations of characteristics, which results in changes consumptions. In this paper, a multi-objective optimal torque distribution strategy is proposed, taking loa...

Anti-lock braking system is designed to optimize braking procedure while maintaining automobile steerability through controlling wheels slip. However, due to nonlinearity and uncertainty of ABS structure, designing the controller for wheel slip encounters so many problems which necessitate a robust control system. In this paper, a hybrid controller is proposed for ABS to address this issue. The...