Dynamics modelling of the four-wheeled mobile platform

Abstract The model of dynamics of the four-wheeled mobile platform has been presented. Model of construction of prototype of has also been presented. The proposed model is useful to examine different configurations of the drive wheels and to analyze the relations between causes and effects of the motion parameters. The solution presented in the work allows to study the behavior of the platform also under slippage and in the circumstances to refrain the platform from falling into the skid. The problem of the forced motion and free motion of the platform with the possibility of modification the drive modulus positions has been considered. Analysis of the active forces with the resistive forces is also included. The formulated initial problem has been solved numerically with use of the Runge-Kutta method of the fourth order. The sample simulation results for the solution and conclusions are in the final sections.

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