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Investigation of longitudinal friction characteristics of an omnidirectional wheel via LuGre model

Published online by Cambridge University Press:  03 February 2021

Osman Nuri Şahin Open the ORCID record for Osman Nuri Şahin [Opens in a new window]  and
Mehmet İsmet Can Dede
Osman Nuri Şahin*
Affiliation:
Department of Mechanical Engineering, Izmir Institute of Technology, Izmir, Turkey
Mehmet İsmet Can Dede
Affiliation:
Department of Mechanical Engineering, Izmir Institute of Technology, Izmir, Turkey
*
*Corresponding author. E-mail: osmansahin@iyte.edu.tr
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Summary

In recent years, omnidirectional wheels have found more applications in the design of automated guided vehicles (AGV). In this work, LuGre friction model is used for an omnidirectional wheel. A test setup that includes a single omnidirectional wheel is designed and constructed to identify the model parameters. With the help of the constructed test setup, the longitudinal friction characteristic of the omnidirectional wheel is obtained, and the model is verified via validation tests. In addition, for the first time, the effect of lateral frictional force on longitudinal motion is examined for an omnidirectional wheel through experiments.

Keywords

Holonomic mobile robotWheel friction modelOmnidirectional wheelsWheel slippage

Information

Type
Article
Information
Robotica , Volume 39 , Issue 9 , September 2021 , pp. 1654 - 1673
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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