 | | 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: | | 11262 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8011
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| In English (Mech. Solids): | | 3251 |
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| << Previous article | Volume 55, Issue 7 / 2020 | Next article >> |
| Karapetyan A.V. and Katasonova K.A., "On the Motion of a Three-Wheel Robot with Slip of Driver Wheels," Mech. Solids. 55 (7), 941-946 (2020) |
| Year |
2020 |
Volume |
55 |
Number |
7 |
Pages |
941-946 |
| DOI |
10.3103/S0025654420070122 |
| Title |
On the Motion of a Three-Wheel Robot with Slip of Driver Wheels |
| Author(s) |
Karapetyan A.V. (Moscow State University, Moscow, 119991 Russia, avkarapetyan@yandex.ru)
Katasonova K.A. (Moscow State University, Moscow, 119991 Russia, xenia.katasonova@gmail.com) |
| Abstract |
The motion of a mobile robot with one passive wheel and two driving wheels is considered.
All the steady robot motions are found and their stability and branching are investigated. In contrast
to numerous publications on this topic, wheel slip is allowed. Moreover, it is assumed that forces of
viscous friction are applied at the point of contact with the base surface. |
| Keywords |
three-wheel robot, wheel slip, steady motions, stability, bifurcations |
| Received |
24 February 2019 | Revised |
10 March 2019 | Accepted |
19 March 2019 |
| Link to Fulltext |
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