in this paper, an innovative mobile platform is presented which is equipped by three new wheels. the core of the new idea is to establish a new design of rigid circular structure which can be implemented as a wheel by variable radius. the structure of wheel includes a circular pattern of a simple two-link mechanism assembled to obtain a wheel shape. each wheel has two degrees of freedom. the fi...

apart from regular wheel wear such as decreasing wheel diameters and reduced flange thicknesses and heights, wheel flats (wf) and oval wheels (or oor, out-of-roundness) are the most common wheelset problems for railway vehicles. within the fp7 research project “saferail”, apt has developed an innovative wheelset monitoring system so-called “wheel flat and out of roundness monitoring (worm) syst...

let g be a (p, q) graph. let k be an integer with 2 ≤ k ≤ p and f from v (g) to the set {1, 2, . . . , k} be a map. for each edge uv, assign the label |f(u) − f(v)|. the function f is called a k-difference cordial labeling of g if |νf (i) − vf (j)| ≤ 1 and |ef (0) − ef (1)| ≤ 1 where vf (x) denotes the number of vertices labelled with x (x ∈ {1, 2 . . . , k}), ef (1) and ef (0) respectively den...

Wheel/rail contact simulation is one of the most complicated problems in the modeling of railway vehicles. The wheel/rail interaction plays a unique role in rail vehicle dynamics. In this paper, the dynamic response of the wheel on irregular rail track is analyzed with analytical approach using the method of Multiple Scales (MMS). The Hertzian contact theory is used to obtain the relationshi...

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...

This paper presents a comprehensive wheel model that can quantitatively evaluate traction performance of flexible/rigid wheels driving on deformable terrain. The proposed model exploits a terramechanics-based approach with taking account of pressures generated by wheel elasticity as well as terrain stiffness. Deflection of a flexible wheel typically depends on a relative pressure between the wh...