Surface grinding is the most common process used in the manufacturing sector to produce smooth finish on flat surfaces. Surface quality and metal removal rate are the two important performance characteristics to be considered in the grinding process. The economics of the machining process is affected by several factors such as abrasive wheel grade, wheel speed, depth of cut, table speed and mat...

Evaluation of the rolling resistance car tires is now often performed on drum stands like tests. This necessitates study mechanics interaction between wheel and in order to determine its force kinematic characteristics, including values points application tangential normal forces contact with drum. These problems can be solved taking into account that elastic a same as when flat rigid support s...

This work introduces a high-performance, quadruped-assistive-robot expandable platform with wheel–leg mode transformation functions. The robot is designed for transporting goods in residential areas such as apartments, private houses, and office buildings. It capable to move fast on flat ground wheels or use legs other places, especially moving off staircases wheelchair accessible ramps. To ach...

This paper proposes a control method for wheels to pass over rough terrain. In our previous work, we have developed a holonomic mobile mechanism capable of running over steps. The mechanism realizes omni-directional motion on a flat floor and passes over uneven ground in forward and backward directions. The vehicle has seven special wheels with cylindrical free rollers and two passive body axes...

Traditional terramechanics theorems utilise pressure-sinkage models based on the assumption that the contact area between a tyre and soil can be approximated as a flat plate. Examples include work by Bekker, Reece, and Ishigami. Recently, the authors have demonstrated that 1) this approximation does not hold for wheels with a diameter less than approximately 50 cm and 2) an improved diameter-de...

Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage and large orientation changes. In this paper we will first present the recent developments on the off-road rover Shrimp. Then a new method, c...

Haldex Traction can with their Active Yaw Control prevent unwanted handling when driving a vehicle, by applying an extra torque with their all wheel drive system. To be able to calculate when and how this torque should be applied, it is important to the state information of the vehicle. When driving on banked roads, vehicle dynamics and sensor measurements are changed compared to when driving o...