The paper draws attention to the need to improve the driving parameters of a wheeled mobile robot platform built on a wheeled chassis. It points out the problems resulting from the movement of such a vehicle in difficult terrain and, consequently, the quality of the task performed by the vehicle. The design of an experimental pneumatic hub used for the research is presented. The concept of experimental research is described, the aim of which will be to determine the feasibility of the adopted concept for optimizing driving properties.In work [3], it was stated that in the scope of moving wheeled platforms in undetermined terrain, the most commonly encountered solutions do not guarantee proper adaptation of such a chassis to the encountered driving conditions. For example, the selection of an appropriate type of chassis wheels, preceded by terrain reconnaissance, does not guarantee optimal platform characteristics for a given terrain under all conditions. Work [9] also indicated that with the most common chassis solution for a mobile robot, i.e., a rigid wheel axle suspension (which is often used, among other things, due to the need to limit the robot’s dimensions and the simplicity of the chassis design), a wheel hitting an obstacle can hinder or even exclude the realization of the “entrusted” task. (…)
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Source: Logistyka Magazine
Concept of experimental research on a pneumatic hub – PDF file for download