Wheel Model Research Articles

Kinematic modeling and control of orthogonal omnidirectional wheeled two-dimensional conveyor platform

This paper proposes an orthogonal omnidirectional wheeled two-dimensional conveyor platform and the inverse kinematic equations based on the cell model and the omnidirectional wheel model are derived, respectively. The two models use the way of the circumcircle of the cargo box and the dot product method to obtain the cell or omnidirectional wheel directly contacted under the cargo box, respectively. This paper uses YOLOV8_OBB and Strong SORT target tracking algorithms to assign tracking IDs to the cargo box and output the box position information. A feedback mechanism for faulty omnidirectional wheels or faulty cells is proposed, where the faulty area is classified as impassable during path planning and the A* path planning algorithm is used for path planning to avoid the faulty area. A visual feedback-based path tracking is adopted to enable timely correction when the cargo box deviates from the established path. The experimental results show that the omnidirectional wheel-based model improves the path-tracking accuracy by 44.52% and reduces the average power consumption by 2.6 times compared to the cell-based model.

COMPUTATIONAL AND EXPERIMENTAL STUDIES OF VIBRATION PROTECTION PROPERTIES OF THE PNEUMATIC WHEEL OF THE MTZ-82 "BELARUS" TRACTOR WITH EXTERNAL SPRING-HYDRAULIC MINI SUSPENSION

BACKGROUND: Currently used in various sectors of the national economy, numerous wheeled non-suspension vehicles on pneumatic tires have a low level of vibration protection of the frame and limited cross-country ability. Therefore, the development and study of the design characteristics of a pneumatic wheel with increased elastic-damping properties and cross-country ability is an urgent technical problem. AIMS: The purpose of the work is to develop a design and study the vibration-protective properties of a pneumatic wheel with an external spring-hydraulic mini-suspension to improve the smoothness and cross-country ability of large non-suspension vehicles. METHODS: A description of the design of a wheel with mini-suspension and support roller is presented. The wheel modeling was carried out in the PascalABC program, which takes into account the nonlinearity of the total force of the pneumatic tire and the spring-hydraulic mini-suspension, which is installed parallel to the tire at an angle to the vertical axis of the wheel. The test methodology consisted of conducting comparative free and forced vibrations of the rear pneumatic wheel from the MTZ-82 "BELARUS" tractor with a 400-965/15.5-38 tire, which operated without and with mini-suspension at a vertical load of 0.6 tons and different excess pressures in the tire. RESULTS: From the results of computational and experimental studies it follows that when the tire is radially compressed by 75 mm, the excess pressure inside the pneumatic wheel almost does not change, and when the pressure in the tire decreases from 1.6 to 0.4 bar, the resonant vibration frequency of the standard wheel axle decreases by 25%, while the dynamic coefficient remains unacceptably high (more than 5), leading to separation of the tire from the supporting surface. Installing a mini-suspension parallel to the wheel in the form of a spring-hydraulic shock-absorbing strut leads to an increase in the resonant frequency by 1 Hz, however, the resonant peaks are reduced by almost 3 times to a dynamic coefficient of 2.5...2, which significantly increases the smoothness of the ride of non-suspension vehicles and reduces the likelihood of wheel separation from the supporting surface. CONCLUSIONS: The research has established that the proposed wheel with a mini-suspension in the form of a spring-hydraulic strut and a support roller has a relatively simple design, provides high vibration-protective properties with small amplitudes of kinematic disturbance and can be used to improve the smoothness and cross-country ability of wheeled non-suspension vehicles.

DEM modelling of surface indentations caused by granular materials: application to wheel–rail sanding

The presented surface indentation model is one step towards building a DEM model for wheel–rail sanding. In railways, so-called low-adhesion conditions can cause problems in traction and braking, and sanding is used to overcome this problem. Sand grains are blasted towards wheel–rail contact, fracture repeatedly as they enter the nip and are drawn into the contact and then increase adhesion. Research on this topic has mostly been experimental, but focussed on adhesion enhancement measurement. Thus, physical mechanisms increasing the adhesion are not well understood. Previous works involved experiments and DEM modelling of single sand grain crushing tests under realistic wheel–rail contact pressures of 900 MPa, focusing on sand fragment spread and formation of clusters of solidified fragments. In the experiments, indents in the compressing steel plates were also observed, which are also observed on wheel and rail surfaces in railway operation. These are now modelled by adapting an existing surface indentation model from literature to the case of surface indentations caused by granular materials. Two test cases are studied, and experimental spherical indentation tests for model parametrisation are presented. In a proof of concept, the mentioned single sand grain crushing tests under 900 MPa pressure are simulated including the surface indentation model. This work contributes to DEM modelling of wheel–rail sanding, which is believed to be a good approach to deepen the understanding of adhesion increasing mechanisms under sanded conditions.

Unravelling interacting barriers and facilitators to adherence and delivery of exercise-based care in the treatment of Subacromial Pain Syndrome – an exploratory qualitative study

Purpose Subacromial Pain Syndrome (SAPS) is a common persistent pain condition. Exercise-based care is first-line recommendation, but an insufficient exercise dose hampers effectiveness. This study explores individual and contextual barriers and facilitators for delivery of and adherence to exercise-based care in people with SAPS. Materials and Methods Participants in this exploratory qualitative study were involved in the management of SAPS in Denmark. Triangular interviews and analyses were conducted within 3 themes (delivery of recommended services, adherence to recommendations, and frames of the clinical pathways) using the Theoretical Domains Framework (TDF) and the Behavioural Change Wheel model (BCW) to map barriers and facilitators into the Capability, Opportunity, Motivation and Behaviour (COM-B) model. Results From interviews with 10 persons with SAPS and 37 healthcare practitioners and double-deductive analyses, 30 subjects of target behaviour within 13 TDF domains emerged across perspectives and COM-B components. Central barriers to delivery and adherence were inconsistencies in diagnostic terminology, cross-professional disagreements, beliefs, and expectations towards pathway services. Conclusion We identified interrelated individual and contextual barriers to delivery and adherence across all aspects of the BCW, underpinning the complexity of the subject. Findings support that effectiveness of exercise-based care is linked to contextual barriers to delivery and adherence.

Numerical analysis of the mechanics of foreign particle entry on automotive turbocharger compressor blades

Automotive turbochargers, essential for enhancing intake air pressure and boosting torque in internal combustion engines, operate at exceptionally high rotational speeds of approximately 100,000 to 300,000 rpm. Despite the implementation of dual or triple air filtration systems to filter contaminants, neglected maintenance can lead to clogged filters, resulting in the ingestion of metallic filter mesh, and other small-sized objects from filter indicators, washers, and plastic components into the turbocharger assembly. The current study explores the impact of foreign particles on the mechanics of turbocompressor impeller blades in automotive turbochargers through a computational approach. A finite element model of the turbocompressor wheel was developed with suitable boundary conditions for the turbocompressor and the foreign particle. A Design of Experiments (DoE) approach was employed using a Taguchi L12 orthogonal array to optimize the multiple parameters during the foreign particle impact. The study considered two geometric shapes of the foreign particle (conical with unit aspect ratio and hemispherical), two sizes, and two rotational speeds ranging from 150,000 to 250,000 rpm. ANSYS Explicit Dynamics® software was utilized for the numerical simulations to simulate the mechanics of foreign particle entry and the resulting damage on compressor blades.

Numerical Prediction of Ride Comfort of Tracked Vehicle Equipped with Novel Flexible Road Wheels

Enhancing ride comfort has always constituted a crucial focus in the design and research of modern tracked vehicles, heavily reliant on the driving system’s performance. While the road wheel is a key component of the driving system, traditional road wheels predominantly adopt a solid structure, exhibiting subpar adhesion performance and damping effects, thereby falling short of meeting the demands for high-speed, stable, and long-distance driving in tracked vehicles. Addressing this issue, this paper proposes a novel type of flexible road wheel (FRW) characterized by a catenary construction. The study investigates the ride comfort of tracked vehicles equipped with flexible road wheels by integrating finite element and vehicle dynamic. First, three-dimensional (3D) finite element (FE) models of both flexible and rigid road wheels are established, considering material and contact nonlinearities. These models are validated through a wheel radial loading test. Based on the validated FE model, the paper uncovers the relationship between load and radial deformation of the road wheel, forming the basis for a nonlinear mathematical model. Subsequently, a half-car model of a tracked vehicle with seven degrees of freedom is established using Newton’s second law. A random road model, considering the track effect and employing white noise, is constructed. The study concludes by examining the ride comfort of tracked vehicles equipped with flexible and rigid road wheels under various speeds and road grades. The results demonstrate that, in comparison to the rigid road wheel (RRW), the flexible road wheel enhances the ride comfort of tracked vehicles on randomly uneven roads. This research provides a theoretical foundation for the implementation of flexible road wheels in tracked vehicles.

Research on Sintering Machine Axle Fault Detection Based on Wheel Swing Characteristics

During the sintering process in iron production, wheel swing is a sign of sintering machine trolley axle faults, which may lead to the wheel falling off and affect the production operation of the sintering machine system in serious cases. To solve this problem, this paper proposes a fault detection and localization method based on the You Only Look Once version 9 (YOLOv9) object detection algorithm and frame difference method for detecting sintering machine trolley wheel swing. The wheel images transmitted from the camera were sent to a trolley wheel and side panel number detection model that was trained on YOLOv9 for recognition. The wheel recognition boxes of the previous and subsequent frames were fused into the wheel region of interest. In the wheel region of interest, the difference operation was carried out. The result of the difference operation was compared with the preset threshold to determine whether the trolley wheel swings. When a wheel swing fault occurs, the image of the side plate at the time of the fault is collected, and the number on the side plate is identified so as to accurately locate the faulty trolley and to assist the field personnel in troubleshooting the fault. The experimental results show that this method can detect wheel swing faults in the industrial field, and the detection accuracy of wheel swing faults was 93.33%. The trolley side plate numbers’ average precision was 99.2% in fault localization. Utilizing the aforementioned method to construct a system for detecting wheel swing can provide technical support for fault detection of the trolley axle on the sintering machine.

Force model of ultrasonic empowered minimum quantity lubrication grinding CFRP

As a weight-reducing material in aerospace applications, carbon fiber reinforced polymer (CFRP) requires precision grinding to ensure the accuracy and assembly of mating positioning surfaces. However, achieving low-damage machining of CFRPs remains challenging. Flood cooling reduces the mechanical properties, while dry grinding deteriorates the surface integrity, making minimum quantity lubrication (MQL) a viable alternative. However, nanolubricants struggle to penetrate the grinding area due to gas barrier obstruction. Consequently, a new CFRP grinding approach using multiangle 2D ultrasonic vibration-empowered nanolubricant MQL was proposed. An analytical force model is crucial for optimizing machining strategies and adjusting parameters. The aim is to reveal grinding mechanics and develop a force model under different ultrasonic and lubrication-cooling conditions. First, a uniform random fiber distribution model and a grinding wheel model were established, and the mechanical properties of the interface were predicted. Then, the intermittent grinding behavior and dynamic stiffnesses of the multiangle 2D ultrasonic vibration-assisted grinding (UVAG) system were investigated based on the geometric kinematics of the grains' trajectory. Furthermore, based on the deformation deflection curve, bending fracture force models for 45°, 90°, and 135° fibers were established with different contact and boundary conditions. The material removal mechanisms of shear and tension-compression buckling in 0° CFRP grinding were revealed, and an elliptical contact normal force model was established. The interlayer shear in 45° CFRPs was analyzed. The longitudinal compressive matrix cracking and fiber shear fracture in the 90° CFRPs were elucidated. Fiber microbuckling and fiber bundle removal of 135° CFRPs were investigated. Finally, grinding force models with different fiber orientation angles (FOAs) were interconnected and experimentally assessed. Experimental assessments demonstrated that the grinding force model has acceptable estimation error and effectively captures the mechanics of CFRPs with different FOAs.

Exploring the Emotional Experience of Tourists in Immersive Service Scenarios: A Case Study of Super Wenheyou Restaurant

With the rapid development of the immersive service scenarios, the practical problems of the tourism industry have gradually undergone qualitative changes, and the core contradiction has changed from the simple "tourism attraction" to the more complex "tourism experience quality" problem. In the process of "immersive experience", "emotion" plays a powerful guiding role in the immersive scenarios design, guiding tourists to real-time interaction, immersive and emotional resonance. Therefore, emotional experience has become the key in the development of immersive service scenarios. This study collects the data of tourists in Wenheyou through a questionnaire of tourists' emotional experience test, and discusses the tourists' emotional experience needs, effects and improvement strategies under the background of the three-stage characteristics of immersive scenarios and emotional interaction. Tourists' emotional experience and Word frequency by ROST CM (ROST Content Mining System) 6.0, was employed for data analysis. The study elucidates that within the Wenheyou immersive service scenarios, the physical service environment, cultural stimuli, and service products serve as primary catalysts for fostering positive emotional experiences among tourists. Drawing on psychological theories and utilizing the PANAS (Positive Affect and Negative Affect Schedule) scale and Robert Plutchik's emotion wheel model, the research delves into tourists' emotional experiences within the Wenheyou immersive service scenarios. It identifies key factors shaping positive and negative emotional experiences, offering valuable insights for service enterprises to enhance tourists' emotional quality.

Analysis of the influence of the metal wheel radial stiffness on traction characteristics

BACKGROUND: The traction characteristic of a wheel mover depends both on its type and rigidity properties, and on the physico-mechanical soil properties. The combined use of the discrete element method to describe the soil and the finite element method to model the wheel makes it possible to specify and expand the existing empirical models of the interaction of the mover with the ground. The application of this method will reduce the amount of full-scale testing required to verify the interaction model. AIMS: Development the traction characteristic of a metal wheel by varying its design parameters. METHODS: To develop a mathematical model of a metal wheel and determine traction characteristics, numerical methods of discrete and finite elements are used. RESULTS: In this paper, a metal wheel mathematical model with ability to vary the thickness of the elastic sidewall was developed. Radial stiffness characteristics were obtained for three wheel samples. The developed mathematical model of the interaction of a wheel mover with a ground is based on the application of discrete and finite element methods. In this paper, a proportional controller was used to application of forces to the wheel mover. The dependences of the longitudinal reaction coefficient on the slip coefficient were obtained and a comparative analysis of the radial stiffness influence on traction characteristics was carried out. CONCLUSIONS: The combined application of the discrete and finite element methods will make it possible to determine the traction characteristics of the movers of various designs when interacting with a deformable soil and to evaluate the influence of its design parameters on it.

Modal Analysis of Automobile Wheels based on Lightweight Technology

Compared with traditional wheels, magnesium alloy wheels have the advantages of higher strength, toughness, lighter weight, beautiful appearance and so on. This paper takes magnesium alloy wheel as the research object, and uses Pro/e and ANSYS to help complete a lot of work such as 3D model construction and finite element analysis and calculation, to ensure that the magnesium alloy wheel can meet its strength requirements while being lightweight. The strength analysis and modal analysis of the designed wheel model are carried out under various working conditions. According to the analysis results, the first design model is further simplified, and then the calculation and analysis are repeated many times. It is found that the new model meets the mechanical properties requirements under multi-working conditions, ensures that the requirements of lightweight design are met, and provides relevant theories and methods for wheel design and structural optimization of other materials.

Application of Finite Element Algorithms for Formula Racing Steering Wheels

The steering wheel of a Formula Student car has an important influence on the driving and handling stability of the car. The steering wheel of the racing car must have good mechanical and stable performance, taking into account lightweight and economic performance. Due to the small riding space of the car, the size of the steering wheel is not required to be too large. In this case, it is very difficult to meet its harsh stress state and control its vibration and noise. Based on the general requirements of the competition rules of the Formula Student racing competition, this paper constructs the geometric model of the steering wheel of the racing car by using the computer 3D design software CATIA. ANSYS software was used to conduct finite element analysis of the mechanical properties of the metal skeleton of the steering disc. Magnesium alloy, a light material with excellent mechanical properties, was selected, and combined with the actual working conditions of the steering disc, especially the force under extreme conditions, the computer simulation results showed that the force distribution and displacement of the steering disc met the design requirements. Considering that the noise and vibration of the steering wheel will have a great impact on the racer, the modal analysis of the steering wheel is carried out by using ANSYS software, and the analysis results show that there is no resonance or instability.

Barriers in Rubber Dam Isolation Behaviour of Dental Students During Adhesive Restorative Treatments: A Cross-Sectional Study.

There are unfavorable opinions connected with rubber dam isolation amongst dental students during adhesive restorative treatments. The aim of this study was to investigate the various barriers to practicing rubber dam isolation during dental procedures and provide necessary insight towards implementation of rubber dam among undergraduate dental students in Jazan. A pre-validated questionnaire in English entitled Rubber Dam Isolation Survey (E-RDIS) based on the Capability Opportunity Motivation-Behaviour (COM-B) model of behavioral change wheel was responded by 226 university dental students. The satisfaction of training was highest among sixth year students (Mean=3.57, p<0.001). Fourth year dental students scored higher in the capability (Mean=3.18) and were more highly motivated to use rubber dams (Mean=4.21). Third year students were more likely to use rubber dams in anterior teeth (Mean=3.52) whereas fourth year students use rubber dam in posterior teeth (Mean=3.74). Lack of motivation was found to be the significant barrier influencing rubber dam usage (odds ratio (OR)=12.1; 3.74, p<0.05). The satisfaction with training differed among the students of different years. The rubber dam technique might be used more frequently if it were made clear to students that mastering it would be necessary for them to receive good grades.

Innovative design and development of attitude determination and control systems for CubeSats with reaction wheels

Attitude determination and control systems (ADCS) represent a critical facet of CubeSat missions, orchestrating the precise orientation and stabilization of these small satellites in the space environment. This paper presents a comprehensive design and development of an ADCS tailored for CubeSats, harnessing a reaction wheel system to deliver a cost-effective and dependable solution for small satellite applications. The research begins by elucidating the requisites and specifications for the ADCS and then delves into the design phase, complemented by intricate modelling and simulation employing MATLAB Simulink and the Webots Simulator. The results of this study underscore the exceptional performance of the proposed ADCS configuration, leveraging the reaction wheel model. This system demonstrates an unparalleled capacity to achieve precise and controlled attitude adjustments, well within the defined parameters. Furthermore, this research underscores the pivotal role played by efficient system design, meticulous simulation, and rigorous testing in the triumphant implementation of ADCS, greatly enhancing CubeSat missions and their contributions to the realm of space exploration and technology innovation. This comprehensive approach to the design and testing of an ADCS for CubeSats ensures that these diminutive satellites continue to make significant strides in space missions, paving the way for an exciting future of space research and technology development.

Design and implementation of origami robot ROS-based SLAM and autonomous navigation.

In this study an innovative parameterized water-bomb wheel modeling method based on recursive solving are introduced, significantly reducing the modeling workload compared to traditional methods. A multi-link supporting structure is designed upon the foundation of the water-bomb wheel model. The effectiveness of the supporting structure is verified through simulations and experiments. For robots equipped with this water-bomb wheel featuring the multi-link support, base on the kinematic model of multi-link structure, a mapping algorithm that incorporates parameterized kinematic solutions and IMU-fused parameterized odometry is proposed. Based on this algorithm, SLAM and autonomous navigation experiments are carried out in simulation environment and real environment respectively. Compared with the traditional algorithm, this algorithm the precision of SLAM is enhanced, achieving high-precision SLAM and autonomous navigation with a robot error rate below 5%.

A Combined Paddy Field Inter-Row Weeding Wheel Based on Display Dynamics Simulation Increasing Weed Mortality

Weeds compete with rice for sunlight and nutrients and are prone to harboring pathogens, leading to reduced rice yields. Addressing the issues of low weeding efficiency and weed mortality rates in existing inter-row weeding devices, the study proposes the design of a combination paddy field inter-row weeding wheel. The device’s operation process is theoretically analyzed based on the weed control requirements in the northeastern region of China, leading to the determination of specific structural parameters. This research conducted experiments on the mechanical properties of weed cutting to obtain geometric parameters for paddy field weeds. It was found that the range for the cutting gap of the dynamic–fixed blade is between 0.6 mm to 1.4 mm and the cutting angle is between 5° to 15°, resulting in the lowest peak cutting force for weeds. Using LS-DYNA R12.0.0 dynamic simulation software, a fluid–structure interaction (FSI) model of the weeding wheel–water–soil system was established. By employing the central composite experimental design principle and considering the soil stir rate and coupling stress as indicators, the optimal structural parameter combination for the device is obtained: a dynamic–fixed blade cutting gap of 1.4 mm, a cutting angle of 10.95°, and a dynamic blade install angle of −3.44°. Field experiments demonstrated that the device achieved an average weeding rate of 89.7% and an average seedling damage rate of 1.9%, indicating excellent performance. This study contributes to improving weed mortality rates and provides valuable guidance for inter-row mechanical weeding technology.

Adaptive Fuzzy Sliding Mode Control and Dynamic Modeling of Flap Wheel Polishing Force Control System

Polishing force is one of the key process parameters in the polishing process of blisk blades, and its control accuracy will affect the surface quality and processing accuracy of the workpiece. The contact mechanism between the polishing surface and flap wheel was analyzed, and the calculation model of the polishing force and nonlinear dynamic model of the polishing force control system was established. Considering the influence of friction characteristics, parameter perturbation, and nonlinear dead zone on the control accuracy of the polishing force system, an adaptive fuzzy sliding mode controller (AFSMC) was designed. AFSMC uses a fuzzy system to adaptively approximate the nonlinear function terms in the sliding mode control law, adopts an exponential approach law in the switching control part of the sliding mode control (SMC), and designs the adaptive law for adjustable parameters in the fuzzy system based on the Lyapunov Theorem. Simulation and experimental results show that the designed AFSMC has a fast dynamic response, strong anti-interference ability, and high control accuracy, and it can reduce SMC high-frequency chatter. Polishing experiments show that compared with traditional PID, AFSMC can improve the form and position accuracy of the blade by 42% and reduce the surface roughness by 50%.

Lightweight Finite Element Analysis and Experimental Study of 90# Fifth Wheel

The fifth wheel is a connecting device between the semi-trailer and the tractor, which plays the role of connecting and steering. According to the finite element analysis technology, the fifth wheel model is established by CREO software, and import the established model into HyperWorks software, the static analysis and lightweight design of the structure are carried out by finite element simulation. Finally, the optimal solution of fifth wheel structure is obtained, The static performance of the optimized fifth wheel is verified, which proves that the optimized structure is reasonable and meets the requirements of strength and stiffness. After the optimization of fifth wheel for actual production test, the optimized fifth wheel to meet the requirements of national standards.

Rubber tire wheel tracking to isolate the effects of moisture via wet and dry specimen pairs

In this paper, data from the PURWheel-G2, a rubber tire wheel tracker, was utilized alongside several techniques to better understand isolation of the effects of moisture on asphalt rutting. Techniques commonly used to interpret wheel tracking data, particularly to evaluate moisture damage, were summarized and used to evaluate over 150 PURWheel-G2 tests where wet and dry pairs of tests were conducted to directly isolate the effect of moisture on rutting. Among all the available wheel tracking analysis techniques and models for moisture evaluation, there lacks a consensus approach, and available approaches vary widely highlighting the need for a standard test method. The rubber tire wheel tracker presented in this paper aims to take a step towards developing test protocols to isolate moisture damage. The ability to measure the effects of moisture on rutting is a feature that other existing wheel tracking methods cannot do on their own.

Theoretical and experimental investigation of variable contact forces on the rollers of a mecanum wheeled mobile robot

The modeling structures of rollers, mecanum wheels, and mecanum wheeled mobile robots presented in the literature use single contact force assumption. This assumption may give good results in a simulation environment; however, it is not strong enough to reflect reality. To make an improvement, a new aspect of mecanum wheel model is proposed in this study. The model takes the variable roller contact forces into account and investigates their effects on the performance of motion of a mecanum wheeled mobile robot. It uses all points on each roller’s curved shape so that the slippage phenomena is also taken into consideration which makes it possible to get less position estimation errors in real-time operations. The modeling structure introduced aims to reflect reality both in simulation and real applications. A simulation environment is developed for this study. To make verification, an experimental setup including a four-mecanum-wheeled mobile robot, its mechanical and electrical hardware and software infrastructures, and a ground-truth system is designed and constructed. A Robot Operating System (ROS) based control system is created and integrated into the experimental system. Different types of reference trajectories including straight-line, square-shaped, Z-shaped, and wave(S)-shaped are used to test the performance of the model proposed in both simulation and experimental studies. The tests are also conducted using the model that involves single contact force assumption to make comparisons. The details of the variable contact forces model proposed, simulation environment developed, experimental setup built, simulation and experimental studies, their results, and comparisons are given in this paper.