Wheel Base Research Articles

Light Monorail Body Carriage Design

One of many solutions that can be applied to solve the transportation problems in Yogyakarta is by adding another mass transportation system which is eco friendly, ergonomic, and does not cause congestion and accident in the highway. There are several kinds of mass transportation that can be developed in Yogyakarta, such as monorail, tram, even commmuter line. But considered from the various advantages and disadvantages, the monorail is an additional mode of transport that is most suitable for Yogyakarta, because its railways are not become one with the road like a tram that may caused another negative impact. The main orientation of this design is to make a monorail body carriage. In designing this monorail body carriage, the conditions of design follows the model and carriage capacity that applied by urbanout with the operating condition data including the size of the carriages, passenger capacity, speed of the train, and the wheel base distance. Aluminum alloy 6061 material is used in the design of the carriage frame. And then the forces working on the carriage is calculated. The magnitude of the forces working on the carriage must be able to be endured by the frame. Data from the design then simulated with static load simulation using Autodesk Inventor 2012 software. From the analysis results will be seen whether the design of the carriage frame structure has been made safe. The size of the carriage is 8800mm x 2350mm x 3100mm for the front and rear car and 6700mm x 2350mm x 3100mm for the middle car. The results showed that the structure of the carriage from urbanout model with frame made of aluminum alloy 6061 is strong enough and suitable for use in light monorail vehicle. With the smallest safety factor by 4.56.

Dynamic Analysis Related with Safety for Three Wheeler

Three Wheeler is a very popular vehicle in passengers transporting as well as goods delivering in Sri Lanka. The statistics show that the accidents relate to three-wheeler are becoming significantly exceeding its proportionality in transportation sector. The simple kinematics of threewheeler has reduced its cost but also has increased its instability. The triangular wheel base has increased the instability of three wheeler above two wheels and four wheelers. The intention of this paper is to identify and classify the main modes of accidents related to three wheeler and to develop a dynamic simulation model to mimic the behaviour of a three wheeler under various driving torques, turning radius, topology, location of centre of gravity. Then from this simulation it is interfered basic safe driving conditions.

ホイールベース可変機構を搭載した軟弱地盤移動用ローバに関する研究

ホイールベース可変機構を搭載した軟弱地盤移動用ローバに関する研究

113 ホイールベース可変機構を搭載した月・惑星探査ローバの提案(GS2-5 ロボティクス・メカトロニクス)

113 ホイールベース可変機構を搭載した月・惑星探査ローバの提案(GS2-5 ロボティクス・メカトロニクス)

Ancient road transport devices: Developments from the Bronze Age to the Roman Empire

The development of transportation systems has significantly enhanced the welfare and modernization of society. Wooden vehicles pulled by animals have been used for land transportation since the early Bronze Age. Whole-body gharries with rigid wheels pulled by oxen appeared in Crete by 2000 BC or earlier. Horses originating from the East were depicted in early Cretan seal-rings of the same period. The two-wheeled horsedrawn chariot was one of the most important inventions in history. This vehicle provided humanity its first concept of personal transport and was the key technology of war for 2000 years. Chariots of Mycenaean and Archaic Greece with light and flexible four-spoked wheels acting as spring suspensions were depicted in vase paintings. The development of this vehicle incorporated the seeds of a primitive design activity and was important for engineering. The Trojan horse since 1194 BC and the helepolis since 700 BC were the first known machines on a wheeled base transported by horses or self-powered. Ancient engineers invented bearings lubricated with fat, and Romans introduced the ancestors of ball bearings for their wagons and carts. The historic evolution of wheeled transportation systems, along with early traction, suspension, and braking systems, is presented in this paper. Analytical and numerical methods are incorporated to analyze the most conceivable loading situations of typically reconstructed wheeled transportation systems in ancient times. Traction requirements both for horse-driven machines and the power for internal motors are also analyzed. This study can serve as a basis for further development of detailed reconstruction of transportation systems in antiquity.

Design Specification Determination with Collaborative Approach for Indonesian Short Wheelbase Recumbent Bicycle

Determination of specification for product development is useful, as it includes an overview of product-related information. However, it is not an easy thing, especially for new and innovative product. In the view of designer as the subject who has never made the product, he needs to work closely with the manufacturer so that the concept can be designed to become a feasible product. In addition, in order to reduce product design life cycle and minimize design errors, the designer needs to communicate and collaborate with the manufacturer. This research proposes a design specification based on the paradigm of Concurrent Engineering (CE) from Collaborative Product Development (CPD) strategy in the development of a new ergonomically designed Short Wheel Base (SWB) Recumbent Bicycle. This collaborative process involved an expert from bicycle practitioner which already had experience in building custom bicycle. The result of this study is a frame set design of the bicycle which considers human anthropometry and the detail list of its components. Beside of that, the process of collaboration with practitioners bicycle produces 37% change in the components used and 3 changes in shape of design SWB Recumbent Bicycle.

Payload Maximization for Mobile Flexible Manipulators in an Environment with Obstacle

Mobile flexible manipulator is developed in order to achieve the high performance requirements such as high-speed operation, increased high payload to mass ratio, less weight, and safer operation due to reduced inertia. Hence, this paper presents a method for finding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear flexible link mobile manipulators. Full dynamic model of wheeled mobile base and mounted flexible manipulator is considered with respect to the dynamic of non-holonomic constraint in an environment including obstacle. In dynamic analysis, an efficient model is employed to describe the treatment of flexible structure, in which both the geometric elastic nonlinearity and the foreshortening effects are considered. Then, a path planning algorithm is developed to find the maximum payload that the optimal strategy is based on the indirect solution of the open-loop optimal control problem. In order to verify the effectiveness of the presented algorithm, several simulation studies are carried out for finding the optimal path between two points in the presence of obstacles. The results clearly show the effect of flexibility and proposed approach on the mobile flexible manipulators.

Maximum Allowable Dynamic Load of Mobile Manipulators with Stability Consideration

Abstract High payload to mass ratio is one of the advantages of mobile robot manipulators. In this paper, a general formula for finding the maximum allowable dynamic load (MADL) of wheeled mobile robot is presented. Mobile manipulators operating in field environments will be required to manipulate large loads, and to perform such tasks on uneven terrain, which may cause the system to reach dangerous tip-over instability. Therefore, the method is expanded for finding the MADL of mobile manipulators with stability consideration. Moment-Height Stability (MHS) criterion is used as an index for the system stability. Full dynamic model of wheeled mobile base and mounted manipulator is considered with respect to the dynamic of non-holonomic constraint. Then, a method for determination of the maximum allowable loads is described, subject to actuator constraints and by imposing the stability limitation as a new constraint. The actuator torque constraint is applied by using a speed-torque characteristics curve of a typical DC motor. In order to verify the effectiveness of the presented algorithm, several simulation studies considering a two-link planar manipulator, mounted on a mobile base are presented and the results are discussed.

Implementation of Auto Car Washing SystemUsing Two Robotic Arms

The main objective of this paper is to perform exterior car washing automatically using two Robotic Arms. The system consists of two robotic arms, one mounted at base of longitudinal wall and other on the ceiling. The car whose surface is to be cleaned is stationed onto a rotating platform. Robotic Arm1 is used for cleaning the sides of the car. It consists of a circular brush at the end of the arm. The arm rotates and captures the wheel base, with rotatory movement of the circular brush it cleans the wheels. The remaining surface is cleaned by a wiper like movement of the arm. Robotic Arm2 is used for cleaning the front and back of the car. It is so programmed that it can travel along the surface to wipe it. Both the arms will work according to the inputs from GUI.

FE Analysis for Landing Gear of Test Air Craft

Stress analysis plays very important role in finding structural safety and integrity of assemblies. Observed from the literature that majority failures of aircraft structure takes place due to malfunction of landing gear of aircraft system. In the present work, a landing gear is designed by using CAD software and structural safety for static and spectrum loads is analyzed using ANSYS. The maximum possible loads (Mil. Standard) applied through RBE3 connection at the axle end spreading to wheel base. The composite material (Carbon-Hercules AS4) is used to check the strength of the landing gear for self weight, static loads, modal conditions and shock spectrum loads as per mil standards. The results shows lesser stresses and deflections with composite material.

Принципы согласования базовой компоновки колесного самолета с шасси на воздушной подушке

Принципы согласования базовой компоновки колесного самолета с шасси на воздушной подушке

PENGEMBANGAN KONSEP SEPEDA PERKOTAAN DENGAN MEMPERTIMBANGKAN KRITERIA ERGONOMI

The development of the Indonesian urban bicycle concept requires the most suitable bicycle type as the initial reference which is decided by considering various criteria. Ergonomics is one of the important criteria, considering that the high frequency riding bike which bring health risks, such as CTS, kyphosis and urogenital disorders. Short wheel base recumbent bike is the most potential for development. The development of this bike includes increased balance by reducing the length of the bike frame and tubing, improve handling by replacing the handlebar is comfortable and uses smaller tires, and use kickstand for easy parking. Besides, the development of this bike adapted to the Indonesian anthropometry and features that support the ability of this bike to explore the city streets. Keywords:urban bikes, ergonomics, development, short wheel base recumbent bike

곡선부 주행안전성 향상을 위한 윤축 조향 제어

Lateral force of wheel is important parameter when we evaluate the safety of a railway vehicle on curved track. The lateral force of wheel is influenced by the steering performance of wheelsets. Generally, in passive type vehicles, the steering performance of wheelsets is influenced by the parameters like primary spring stiffness, wheel base, conicity of the wheel profile, etc. But, the steering performance of passive type vehicle has its limit. To overcome the limit of the steering performance of passive type vehicle, active steering technology is being developed. In this paper, we analyze the lateral force of wheel and the safety of the railway vehicle on curved track by adopting the active steering technology. As results of dynamic analysis for vehicle model equipped with active steering system, the lateral force of wheel is reduced and the safety is improved remarkably.

기존선을 통과하는 고속차량의 적절한 주행속도에 관한 연구

KTX (Korea Train eXpress) is the first high-speed train operated in Korea and its highest speed reaches 300 km/h. Korean high-speed trains are mostly operated on the railroads exclusively designed for high-speed trains, but the sections of Seoul~Gwangmyeong, nearby of Daejeon station and Dongdaegu are operated on the existing tracks having the speed less than 150 km/h. With this paper, we’d like to analyze the lateral force that occurs between the wheels and the rail when high-speed trains were operated on the existing track section to suggest an appropriate driving speed for high-speed trains. As the rigid wheel base of the high-speed train is 3m which is about 50% longer than normal vehicles, it works as an advantage for high-speed driving. However, as the lateral force becomes higher than normal vehicles when driving on curves, plans to reduce wear-outs on the wheels are required.

THE NEW ESCORT. THE EUROPEAN VERSION OF FORD'S WORLDWIDE PINTO-ESCORT CONCEPT

The new Ford Escort is a front–wheel driven vehicle with a 3/5–door semi fast back Sedan body style, with Wagon/Van derivatives. Its new aluminium head OHC engines of 1100cc, 1300cc and 1600cc displacement feature hemispherical combustion chambers and hydraulic tappets. To allow for optimum and flexible use of Ford's engine plant capacities the new Escort is also marketed in some European countries with the well known 1100cc Valencia engine of the Fiesta (Aigner and Franz, 1978). The Sedan and Wagon models have independent rear suspensions, and the Van derivative has a beam rear axle with leaf springs on an extended wheel base. The front suspension is based on the reliable McPherson strut concept with offset springs; the 1100cc model has a tie bar, and the 1300cc and 1600cc models have stabilizer antiroll bars to hold and support the front axle. The 4–speed, all synchro–mesh gear box is of the same design as the Fiesta's, which permits multi model usage and manufacturing rationalisation. An automatic 3–speed transmission option is in development and will be launched soon. Similar to other Ford models the new Escort series range from Base and 'L' to 'GL' and Ghia with additional 'S' pack versions and a Super 'S' for sporty driving. Local customer needs and preferences, together with national legal requirements made it necessary to combine and optimise body styles, engines and series for 15 different markets. The summary of technical data and features at the end of this report gives an impression of the many combinations possible.

Dynamic Load-Carrying Capacity of Multi-arm Cooperating Wheeled Mobile Robots via Optimal Load Distribution Method

In this paper, the dynamic load-carrying capacity (DLCC) of cooperating mobile robots is investigated. The term, cooperating mobile robot, means a wheeled mobile base with multiple arms where end-effectors of the arms are connected to each other for holding and manipulating an object. In order to compute the load capacity of an arm, it is necessary to extract applied torques of motors in the joints. The cooperating feature of multiple manipulators is identified by applying proper constraints on dynamic models of the manipulators. These constraints are used to model the connections between the end-effectors, which imply that all the manipulators should grasp an object simultaneously. In that case, there exists a redundancy in corresponding dynamic equations, which can be solved by introducing new equations from optimal load distribution technique. This optimization is based on Lagrange multipliers method, considering the applied constraints. In this research, by virtue of cooperating models and by deriving the torques equations, the problem of DLCC is extended to multi-arm mobile manipulators. The general modeling is presented for a multi-arm manipulator with m arms where each arm has n degrees of freedom. For appreciating the advantages of the cooperative model, a simplified model of this general formulation is simulated and the results are discussed. Moreover, the cooperating model of the problem is simulated and conferred with an alternative model. The alternative model is called “free”, in a sense that it does not contain the constraints on the end-effectors for simultaneous grasping. The corresponding results prove the improvement in DLCC for systems with constraints and additional internal forces induced by it.

HYDROSTATIC TRANSMISSION AS AN ALTERNATIVE TO CONVENTIONAL GEARBOX

This project involves the replacement of a conventional gearbox transmission system by a Hydrostatic Transmission (HST) system. The applications being considered are those of typical off-road vehicles such as forestry, construction site or mining & quarry vehicles. In these applications speed is of less importance as compared to torque and load carrying capacity. To create a small scale simulation of the performance comparison between the two transmission systems, we are selecting a buggy as our test vehicle. The same engine (Briggs & Stratton Model 20, 10H.P.), as well as wheel base and wheel track being used for both simulations. Geometrically, both vehicles will remain exactly the same and under running conditions the weight required to be hauled is being considered as 350 kg. The only variation will be in the mountings of the two different transmission systems. The above criteria enables a fair simulation as well as comparison of the two transmission systems. The vehicle will be single seated with a curb weight of around 260 kg. The governor setting of the engine will remain unchanged for both simulations. 25” kings tire will be used with the tread pattern being KT168. The gearbox being considered is a ‘Mahindra Alpha Champion’ 4 speed gearbox. The purpose of choosing this as the transmission of our baseline vehicle is that it can operate its four gears in reverse as well. This is important as a HST system shows symmetrically opposite characteristics for both forward and reverse, hence making it a fair comparison. The hydrostatics pump and motor will be selected from Eaton product catalogues as this project has been offered to us, and is being guided by Eaton. The performance analysis is done on basis of Velocity, Acceleration and Grade-ability. The aim is to design a HST circuit which can closely match up to the performance offered by a gearbox transmission so as to verify whether a HST system can be a suitable replacement to a gearbox transmission for the above mentioned applications. This project involves valid database, data flow, algorithm and out reports. The actual fabrication would be too expensive and hence unfeasible. All self-designed parts will undergo Finite Element Analysis (FEA) using Altair Hypermesh. This will validate the design calculations. All the calculations have been done using Microsoft Excel and the final simulation has been done on MATLAB SIMULINK. All the modelling has been done using SolidWorks.

경사면에서 선회운동하는 SUV차량의 롤거동 해석

Abstract : The SUV has a risk of rollover because of the highness of center of mass. In this paper the roll-behavior of a SUV in turning motion is analyzed. Dynamic model of the vehicle on the slope is developed and simulation is carried out using the software ADAMS/Car. The results show that the relational expression between the ground force acting on the tire and the roll motion is well established. It is also identified that the driving state of the vehicle becomes unstable at the lower or upper position of the slope. Key words : Roll behavior(롤거동), Turning motion(선회운동), Lateral slope(횡방향 경사), Slip angle(미끄럼각), Side slip angle(옆미끄럼각) Nomenclature 1)  : vehicle acceleration : vehicle velocity : wheel base : wheel tread : longitudinal slope angle : lateral slope angle : roll angle  : longitudinal force  : lateral force  : vertical force  : roll stiffness Subscripts f, r : front, reari, o : inner, outer * Corresponding author, E-mail: dafrcon@pusan.ac.kr 1. 서 론

Dynamics Analysis of Vehicle Rollover Test Based on SAE J2114

SAE J2114 test method has simulated the recurrence of passenger vehicle rollover form in the traffic accident, mainly including the rollover stage and tumbling stage. In this paper, the whole rolling process of passenger vehicle are analyzed in mechanical model by the testing method, such as the critical condition of rolling ; the condition affecting the vehicle back weeks on the air parabolic motion stage; the condition affecting rolling strength on the landing stage. Furthermore, the article has used MATLAB tools to analyze the relationship of four factors ,which are the critical speed, wheel base, center of gravity height and radius of the rolling ,and the results will help us better understand the collision shape, providing theoretical basis for accident reappearance.

Optimal combination of design parameters for improving the kinematics characteristics of a midsize truck through design of experiment

This paper optimizes the combination of design parameters for improving the kinematic characteristics of a midsize truck using both design of experiment and computer simulation. A computational model of the front suspension and steering system of a midsize truck is developed for analyzing kinematic and compliance characteristics. A taper leaf spring is modeled as a flexible body using finite elements. A bump mode test is performed to validate the reliability of the developed computational model. Mean absolute values of the toe angle and wheel base change are used as objective functions. Modifiable hard points are selected as design parameters. An optimal combination of design parameters for improving kinematic characteristics is suggested based on analyses of variance and factor effects using a table of orthogonal arrays.