Wheel Chassis Research Articles

A comprehensive study on Mecanum wheel-based mobility and suspension solutions for intelligent nursing wheelchairs

Intelligent nursing wheelchairs significantly enhance mobility and independence for elderly individuals with disabilities. However, traditional designs often suffer from large turning radii that restrict their functionality in confined spaces. Addressing this critical challenge, this study introduces an innovative design utilizing a Mecanum wheel chassis that allows for omnidirectional movement, significantly improving maneuverability and stability. Our design incorporates independently controlled Mecanum wheels, overcoming traditional constraints and enhancing user autonomy. To address issues such as wheel spacing variations and hub center tilting, which can lead to slipping and inaccurate motion control, we developed a novel suspension system that stabilizes the chassis, minimizes slipping risks, and boosts motion control accuracy. Experimental validations, including shock absorption and positioning tests, demonstrate that our suspension system markedly enhances the wheelchair's control performance and stability, thereby providing users with enhanced precision and potentially improving their quality of life.

Mechanism Design and Motion Planning of a Hexapod Curling Robot Exhibited During the Beijing 2022 Winter Olympics Games

When a curling rock slides on an ice sheet with an initial rotation, a lateral movement occurs, which is known as the curling phenomenon. The force of friction between the curling rock and the ice sheet changes continually with changes in the environment; thus, the sport of curling requires great skill and experience. The throwing of the curling rock is a great challenge in robot design and control, and existing curling robots usually adopt a combination scheme of a wheel chassis and gripper that differs significantly from human throwing movements. A hexapod curling robot that imitates human kicking, sliding, pushing, and curling rock rotating was designed and manufactured by our group, and completed a perfect show during the Beijing 2022 Winter Olympics Games. Smooth switching between the walking and throwing tasks is realized by the robot’s morphology transformation based on leg configuration switching. The robot’s controlling parameters, which include the kicking velocity vk, pushing velocity vp, orientation angle θc, and rotation velocity ω, are determined by aiming and sliding models according to the estimated equivalent friction coefficient μequ and ratio e of the front and back frictions. The stable errors between the target and actual stopping points converge to 0.2 and 1.105 m in the simulations and experiments, respectively, and the error shown in the experiments is close to that of a well-trained wheelchair curling athlete. This robot holds promise for helping ice-makers rectify ice sheet friction or assisting in athlete training.

Path Planning of Mecanum Wheel Chassis Based on Improved A* Algorithm

This study is concerned with path planning in a structured greenhouse, in contrast to much of the previous research addressing applications in outdoor fields. The prototype mainly comprises an independently driven Mecanum wheel, a lidar measuring module, a single-chip microcomputer control board, and a laptop computer. Environmental information collection and mapping were completed on the basis of lidar and laptop computer connection. The path planning algorithm used in this paper expanded the 8-search-neighborhood of the traditional A* algorithm to a 48-search-neighborhood, increasing the search direction and improving the efficiency of path planning. The Floyd algorithm was integrated to smooth the planned path and reduced the turning points in the path. In this way, the problems of the traditional A* algorithm could be solved (i.e., slow the path planning speed and high numbers of redundant points). Tests showed that the turning points, planning path time, and distance of the improved algorithm were the lowest. Compared with the traditional 8-search-neighborhood A* algorithm, the turning point was reduced by 50%, the planning time was reduced by 13.53%, and the planning distance was reduced by 13.96%. Therefore, the improved method of the A* algorithm proposed in this paper improves the precision of the planning path and reduces the planning time, providing a theoretical basis for the navigation, inspection, and standardization construction of greenhouses in the future.

The results of analysis of traction dynamics and stability of planetary rover’s motion for determination of special wheel chassis’ boundary design parameters

The analysis of the influence of the design parameters of the rover chassis on the traction dynamics, as well as the static and dynamic stability is presented. The analysis was carried out on the basis of the design parameters of the following rovers: Lunokhod-1, LRV, Sojourner, Spirit and Opportunity, as well as Curiosity. The results of the analysis of the influence of the radius and width of the rover wheel on the specific thrust coefficient are presented. An approach has been formed for determining the permissible displacement of the center of gravity of the rover in the longitudinal direction, which provides static stability. The choice of the formula for determining the maximum permissible speed of movement of automatic research planetary rovers has been substantiated. A number of recommendations have been drawn up for working out the design of the rover at the early stages of design. Boundary values of the rover wheel width, depending on the wheel radius, are proposed. The influence of the load on a separate wheeled propulsion unit on the specific thrust coefficient has been determined.

Design of Intelligent Classification Garbage Can Based on STM32 Control

Intelligent classification garbage can is widely used, and society and enterprises have a demand for intelligent garbage can. In view of this demand, the system adopts modular design, mainly including the mechanical design and electrical system design of the training module. The mechanical design is mainly the design of intelligent garbage can three wheel chassis, barrel body and cover. The electrical system design includes steering gear, speech recognition module, human body infrared sensor module and sensor. Through the combination of each module, the intelligent sorting garbage can is designed. Through the experiment, the module has intelligent, tracking, classification assembly and automatic classification. It can bring convenience to people in the room through the platform adjustment.

Основные результаты разработки трансмиссии перспективного шасси для размещения мобильного транспортно-перегрузочного канатного комплекса

The article presents the results of the development of a chassis for the placement of transport and technological machines equipped with a transmission with the possibility of taking off high power (in relation to the power of the standard running engine). Based on the analysis of the market and advertising campaigns of the leading manufacturers of trucks and wheel chassis, a conclusion is made about the competitive advantages of a chassis with a large selection of power. A detailed diagram of the developed transmission is given. A mathematical model is presented for the study of dynamic working processes in the transmission when using the chassis for the placement of base stations of mobile transport and reloading rope complexes (mobile cable cars).

World experience and development prospects of mechanization scheme of nuclear power plants construction

Introduction. Improvement of construction methods for the main structures of nuclear power plants (NPP) is impossible without updating the old and developing fundamentally new schemes for mechanization of construction production. Based on the analysis of world experience in using various types of lifting mechanisms at NPP construction sites, it is proposed to assess the current state and perspective for the development of organizational and technological approaches to the development of effective mechanization of construction production in the construction of atomic energy facilities.
 Materials and methods. Review of domestic and world (UK, USA, Japan) experience in NPP construction allows us to assert that despite the technological and organizational and managerial difficulties, the construction of NPP power units by enlarged units of high factory readiness still remains promising and feasible. The implementation of this approach involves the design and manufacture of unique hoisting mechanisms, the most popular of which are currently crawler or rail-mounted mast cranes. At the same time, the experience of constructing nuclear power plants of the USSR and Great Britain using gantry cranes was undeservedly forgotten.
 Results. The performed comparative analysis of the applicability of tower, mast and bridge (gantry) types of cranes allows us to recognize the high complexity of using gantry cranes in the construction of NPPs and the structural limitations of other types of cranes. The main disadvantages of gantry cranes lie in their use of a rail track, the replacement of which with a pneumatic-wheeled chassis, which has undergone significant development in the last 20 years, can open up new perspective for the reengineering of previously used mechanization schemes for NPP construction.
 Conclusions. Using main lifting mechanism of an overhead crane equipped with a pneumatic wheel chassis in the construction of nuclear power becomes one of the most promising options in the development of nuclear energy construction. The development and implementation of new schemes for the mechanization of construction production based on experience and advanced technologies in mechanical engineering can provide a qualitative improvement of the ongoing investment and construction activities in the field of nuclear energy.

Three-wheel full-wheel robot speed algorithm

This paper introduces the design of the chassis speed algorithm for the Robocon2018 wheeled robot, and designs the motion algorithm of the wheel chassis for the Robocon2018 competition. Establish the coordinate system, through to the robot Chassis movement modelling analysis and based on the actual debugging situation, according to the decomposition and synthesis of vector velocity, the velocity projection value of three omnidirectional wheels is calculated by means of vector dot product, and then the velocity projection value is converted to STM32 PWM output to control the motor. It also proves the effectiveness and feasibility of the velocity algorithm to make the robot move according to the predetermined speed.

Mobile Robot Platform with Arduino Uno and Raspberry Pi for Autonomous Navigation

Abstract Mobile robots represent a very attractive and multidisciplinary field with a lot of applications and scientific research possibilities. The development of microcomputers, single board computers and embedded systems has helped to deploy low-cost solutions for this domain. In this paper is proposed such a low cost mobile robot platform with fixed four wheel chassis, commended by Raspberry Pi and Arduino Uno interfaces. The mobile robot has the ability to move into 2D environments as line follower robot with mapping, navigation, and obstacle avoidance features. The platform contains also one degree of freedom (DOF) robotic arm for lifting and transport of the obstacles.

Estimating method of efficiency of wheel chassis driving on snow

The method of an estimation of efficiency of a wheeled chassis during movement on snow is considered in the article. The change in snow parameters – height and density – during the winter period and the probability of a combination of these parameters is considered. Analytic dependences are given to calculate the height and density of the snow cover, depending on the duration of snow lying. An empirical coefficient is given allowing taking into account the increase in the spread of snow heights, depending on the duration of the winter. The concept of a criterion for the loss of mobility as a probability of the possible time of movement of the chassis during winter time without loss of passability has been introduced. A technique is proposed for estimating the mobility and efficiency of special chassis along the snow canvas of the track, taking into account variability of characteristics during the winter period.

Method of assessment of special wheel chassis mobility in cases of sand-gravel bases crossing

6×6 chassis wheel mobility assessment in cases of the movement on the sand-gravel bases is the key point of the article. The relevance of such chassis for monitoring of coastal zones is considered. Standard traffic conditions are defined, and dependences for the main bases physicomechanical characteristics are described. Dependences for calculation of the generalized functions of resistance and cohesion are given. Transport technological vehicles (TTV) chassis constructional parameters assessment and calculation of the efficiency criterion method as well as the Blok diagram is provided for stochastic input of traffic conditions. Calculation of change of efficiency of a design at the movement on the sand-gravel bases at change of parameters of the chassis within 20% is carried out.

A dynamic model of unsupported pit traversal by a vehicle with 6×6 wheel arrangement

The paper deals with the problem of unsupported pit traversal by a vehicle with 6×6 wheel arrangement. The paper contains passages from an unsupported pit traversal test report of “Korsak” wheel chassis. Typical test episodes are described. A design schematic is provided. Assumptions are provided. For the first time, a mathematical model is provided describing a dynamical pit traversal under recognition of the soil parameters, mass and inertia chassis specifications, as well as the travel speed. A conclusion is made that the obtained model is a more generalized case of existing models describing profile obstacle negotiation by wheel vehicles.

Dynamics of the wheeled chassis 8К4P during difficult obstacles overcoming

Nowadays the development of robotic systems leads to the expansion of their using in many industries including engineering, construction, geological exploration, the repair utilities, the performance of special-missions dangerous to life or health (liquidation of various accidents, consequences of emergencies, working in dangerous environments), etc. In addition, there are a large number of robots types and robot-technical complexes which are able to make decisions on the basis of obtained information in difficult operating conditions or to adapt to environmental changes. In such robots and robot-technical complexes the latest achievements of information technology have been realized: devices and systems of information perception, digital devices and microprocessors for the transformation and processing of information, generators of working units with digital program management, modern software tools.Comprehensive approach to design, which involves the theoretical and practical tasks solving, is of great importance for the specialized robots development. The basic possibilities of creating complex technical objects are connected with the involvement of this approach, as well as the ability to reduce significantly the time frame for their design and obtain accurate data of their main technical and operational indicators. Automated design systems are powerful means of mathematical modeling for theoretical problems solving in the dynamic analysis of robotic complexes. Using of such system allows to obtain preliminary data on kinematics or dynamics of robotic systems as well as to simulate various non-scheduled situations, arising during their operation, at the initial stages of the design.It should be noted that nowadays there are a large number of kinematic chassis schemes [1, 2, 4, 7], which are covered in many publications devoted to the study of their dynamics [3, 6] and solving various applications. A common disadvantage of such studies is a narrow area of their application.In this paper we consider the problem of developing a numerical model of a wheel chassis of 8W4P class which kinematics and dynamics are discussed in [8, 9]. The presence of this model allows both to investigate the dynamics of the chassis during various obstacles overcoming and parametric optimization. The task of the given program movement realization is typical for a robotic technical system on a wheeled platform. The various approaches of its implementation are known. For the chassis of the considered design this task is realized by means of the specialized automated design system EULER.

Concept of Mobile Robots for Movement in an Unknown Environment

The paper deals with the design of the s models of a wheel and belt chassis with improved ability to cross a rugged terrain. This concept of mechatronic systems will have a good ability to overcome obstacles encountered in urban and non-urban environments. With its properties and characteristic features it should be able to adapt to diverse terrain, overcome obstacles such as stairs, slopes, rocks, but also muddy, sandy or slippery surface. The requirements and criteria imposed on this robot will depend on the mentioned properties.

The kinematic analysis of wheeled chassis of type 8K4P

The current level of scientific and technological progress determines the widespread robots and robotic systems in all areas of human activity - from the entertainment to industry. Robotic systems are also used in construction, geological exploration, the repair utilities, etc. It should be noted that the design of such systems takes into account the increased requirements for size, terrain, autonomous functioning (mobility) and the range of tasks. Mobile robotics plays a particularly important role in the performance of specific tasks, including dangerous to life or health (liquidation of various accidents, consequences of emergencies, working in dangerous environments). Complex robotic systems are also used for planetary studies. Therefore, scientific and applied research which related to the improvement of existing robotic systems or developing new are relevant and have obvious practical importance. The mathematical model for kinematics’ investigation of eight-wheeled chassis of the class 8K4P is presented. The chassis can move along the surface of an arbitrary profile. Wheel chassis have a number of advantages over other types of chassis, such as simple mechanisms, high speed, easy to control, energy efficiency, etc. Compared to most common wheel chassis with a rocker-bogie [2] and based on rotational wheel units [4, 5] the benefits 8K4P include simplicity of design, high terrain crossing capacity in both directions of motion [1] and the possibility of overcoming various obstacles, including commensurate with dimensions of chassis. Concrete numerical results of kinematic analysis are shown for modelling of chassis’s movement on obstacles «stairway». The advantage of developed program is the ability to take into account various requirements, including restrictions on the relative angles of sections, restrictions on the maximum value of linear/angular velocity, taking into account the possibility of changing the position of the center of mass of the mechanical system, etc. The criterion which can be used to forecast occurrence of undesirable phenomenon such as breakaway of wheels from a base surface is offered also. The specified criterion defines a relative deviation of a trajectory of movement of the center of weights of mechanical system from a straight line. As the result of performed numerical experiments geometrical parameters of the chassis which satisfy minimal value of the criterion have been obtained.

Управление эффективностью технологического процесса изготовления клапана на базе оценки точности статистическими методами

Results of research and control of efficiency of process of production of technologically difficult, high-precision valves are given. Strict requirements are imposed to these products, as to the products applied in oil and gas extraction complexes, repair and welding units in researches of wells and units on the basis of all-wheel drive wheel and caterpillar chassis. Results of identification of critical technological operations of production of valves are given. Results of an assessment of technological accuracy of processes by statistical methods: control leaves, histograms, Isikava's charts, Pareto's charts, ABC analysis are reflected. Analysis of accuracy of operations by method of dot charts, calculation of statistical parameters: index of reproducibility, indicator of working capacity, indicator of centrality, level of deficiency allowed to reduce deficiency level, to increase production accuracy, to lower a roughness of the processed surface, to reduce operational expenses at finishing grinding. Process “A periodic assessment of accuracy of technological operations” is developed (described, visualized and estimated), the standard of the organization on this process is created and introduced. Results of the executed research project allow to support constantly requirements of technological process of production of valves in the condition, which guarantees production of the established level of quality.

Study on the Track Wheeled Vehicle Designing for Off-Road Operations on Snowy and Wet Terrains

Abstract Off-road vehicle trafficking is of interesting subjects for agricultural, mining and civil engineering purposes. The traversing over snowy and wet terrain is of greater importance regarding the sinkage and terrain properties. The motion resistance, traction, sinkage, and vehicle stability are functions of wheel-terrain interactions and particularly the contact patch characteristics. As adoption of wheeled vehicles on snowy terrain is difficult, tracked wheel vehicles are of greater interest and applicability. In this paper, the designing and analysis of tracked wheel system mounted on a light weight all-terrain vehicle (ATV) is addressed. The designing considerations are based on semi-empirical models (Bekker and Mohr-Coulomb criterion) and experimentally obtained data on the snow mechanical properties for the test region. Based on the analysis, it is observed that the greatest value of total deformation for the front and rear chasses are obtained at 0.00028485 and 0.00026229 m, respectively. The von Mises yield criterion addresses that the yielding of materials starts when the second deviatoric stress invariant gets to a critical value close to failure. Furthermore, the greatest values of von Mises stress for the front and rear tracked wheel chassis are equal to 64.60 and 62.48 MPa, respectively. The similarity is that the critical point is situated at the coincidence point between the inclined and longitudinally oriented rods (joint point). It is concluded that the developed vehicle could serve as a functional vehicle to perform on different off-road operational condition particularly wet terrains.

Design of Wheeled Robot for Rough Terrain

The paper deals with the design of the simulation model of a wheel chassis with improved ability to cross a rugged terrain, which is to move across rugged terrain. One of the first steps taken was to propose the solution and its further improvement. In order to complete final simulation model, we carried out several simulations and resistance analysis confirming the advantage of the selected structure and mobility of the chassis.

Повышение устойчивости импульсных систем на колесном шасси при работе на деформируемых грунтах

Повышение устойчивости импульсных систем на колесном шасси при работе на деформируемых грунтах

Design and Modeling of a Ball Wheel Mobile Robot

A new generation for an omni-directional ball wheel mobile robot with unique driving mechanism is introduced. This driving system overcomes to problems arise using traditional omni-wheels such as, vibration, inappropriate to employ in outdoor applications and limited load capacity. Mechanical structure of this robot has several distinctive characteristics in comparison with our previous robot. Modularity of driving system is the most important ability of new robot, beside on appending a suspension system to improve behavior of robot in rough terrains. Due to independent operation of three ball wheel chassis, designed robot has high performance in going over obstacles along its path.