在半静态条件下对通向轮子的滚动阻力进行实验评估
Sławomir Duda1, Grzegorz Gembalczyk1, Tomasz Machoczek1
1Department of Theoretical and Applied Mechanics, Silesian University of Technology, Konarskiego 18A, 44-100 Gliwice, Poland.
Sensors (Basel, Switzerland)
|August 28, 2025
概括
对全向轮子的实验研究表明,轮子的方向对滚动阻力有很大影响. 在60°时观察到最高的力量,振荡模式受轮子位置和表面类型的影响.
科学领域:
- 机器人技术
- 机械工程
- 实验物理
背景情况:
- 对于移动机器人来说, 带有被动滚筒的通向轮子至关重要.
- 这些轮子的分析特征是由于复杂的相互作用而具有挑战性.
- 实验数据对于理解它们的性能至关重要.
研究的目的:
- 通过实验研究双个被动滚轮的通向轮的滚动阻力.
- 分析轮子方向和垂直负载对阻力的影响.
- 为验证模型和改进机器人设计提供数据.
主要方法:
- 使用一个定制的测试台来测量滚动阻力.
- 在不同方向 (0°90°) 和垂直负载 (117.7 N,215.8 N) 上测试轮子.
- 在工业混凝土和化表面上评估性能.
主要成果:
- 车轮的方向对滚动阻力有很大影响,最高在60°.
- 观察到与角位置相关的抗力振荡模式.
- 混凝土的平均强度为1.04N至10.34N,的平均强度为1.08N至10.11N.
结论:
- 实验结果突出了方向对车轮通向阻力的重大影响.
- 振荡力模式和偶尔的负值表明车轮几何学的贡献.
- 这些发现对改进移动机器人的设计和控制策略有价值.
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