Experimental Evaluation of Rolling Resistance in Omnidirectional Wheels Under Quasi-Static Conditions

This paper presents the results of experimental research on rolling resistance forces occurring during the motion of omnidirectional wheels equipped with dual rows of passive rollers. Due to the complexity of wheel-surface interactions and the stochastic nature of contact transitions, such wheels are often characterized experimentally rather than analytically. A custom-built test stand was used to measure resistance forces for different wheel orientations (0°, 30°, 45°, 60°, and 90°) and two vertical loads (117.7 N and 215.8 N) on two surface types: industrial concrete and anodized aluminum. The results demonstrated a strong influence of wheel orientation on resistance, with the highest mean force recorded at 60° for both loads. The results revealed an oscillatory pattern in the resistance force, strongly influenced by the angular position of the wheel. For concrete, mean forces ranged from 1.04 N to 10.34 N, while for aluminum, they ranged from 1.08 N to 10.11 N. Significant oscillations and occasional negative force values were observed, attributed to roller geometry and wheel irregularities. The data obtained are useful for validating numerical models and improving the design and control of mobile robots using omnidirectional wheels.