 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 11223 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8011
|
| In English (Mech. Solids): | | 3212 |
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| << Previous article | Volume 48, Issue 1 / 2013 | Next article >> |
| G.P. Sachkov, S.V. Feshchenko, and A.I. Chernomorskii, "Conditions for Slip- and Separation-Free Rolling of a Uniaxial Wheeled Transport Platform on a Rough Underlying Surface," Mech. Solids. 48 (1), 19-30 (2013) |
| Year |
2013 |
Volume |
48 |
Number |
1 |
Pages |
19-30 |
| DOI |
10.3103/S0025654413010032 |
| Title |
Conditions for Slip- and Separation-Free Rolling of a Uniaxial Wheeled Transport Platform on a Rough Underlying Surface |
| Author(s) |
G.P. Sachkov (State University of Aerospace Technologies), Volokolamskoe sh. 4, GSP-3, A-80, Moscow, 125993 Russia, kaf305-mai@nm.ru)
S.V. Feshchenko (Public Joint Stock Company "Russian Aircraft Corporation "MIG"", 1 Botkinskii pr-d 7, Moscow, 125284 Russia, fesch@bk.ru)
A.I. Chernomorskii (State University of Aerospace Technologies), Volokolamskoe sh. 4, GSP-3, A-80, Moscow, 125993 Russia, kaf305-mai@nm.ru) |
| Abstract |
We study conditions for slip-free motion of a uniaxial wheeled transport platform (UWTP) on a rough underlying surface and a condition for the nonseparation of the wheels from this surface. We obtain a formal description of such conditions as a system of inequalities, which allows one to test them continuously in the course of motion of the UWTP. The conditions for slip- and separation-free motion are tested at each time instant by calculating the underlying surface constraint forces as functions of the measured kinematic parameters of the motion. In conclusion, an example of numerical construction of slip- and separation-free domains in the axes of angular velocities and accelerations of UWTP wheels for a prescribed angular motion of its platform with respect to the horizontal plane is given. |
| Keywords |
uniaxial wheeled platform, slip- and separation-free rolling, constraint force |
| References |
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| 11. | G. P. Sachkov, S. V. Feshchenko, and A. I. Chernomorskiy,
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| 12. | A. I. Chernomorskii, S. V. Feshchenko, and G. P. Sachkov,
"Horizontal Attitude Measurement Channel of the Nonholonomic Uniaxial Wheeled Platform,"
Vestnik MAI
17 (5), 134-157 (2010). |
| 13. | V. M. Klennikov and E. V. Klennikov,
Theory and Construction of Motor Cars
(Mashinostroenie, Moscow, 1968)
[in Russian]. |
|
| Received |
29 March 2010 |
| Link to Fulltext |
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