Abstract

The article describes a mobile robotic platform for transporting airplanes on the airfield. A design scheme of the “towing tractor-plane” system in the form of a two-section wheeled robot with the leading front part and the trailed rear one, interconnected by a cylindrical hinge, is proposed. Each section is a three-wheeled mobile platform with two independently motorized coaxial wheels and one passive wheel, while in the front section, the side wheels are leading. A mathematical model of motion of a two-section wheeled robot is described, taking into account nonholonomic constraints, wheel friction against the surface, as well as the relative movement of the sections. A system of differential equations, describing the motion dynamics of a two-section mobile robot, has been obtained. The criteria for the absence of lateral slippage of the driving wheels have been defined. The adequacy of the mathematical model is checked.

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