Skip to main content
SpringerLink
Log in

Stability of the Rectilinear Motion of an Omni Vehicle with Consideration of Wheel Roller Inertia

  • Brief Communications
  • Published:
Moscow University Mechanics Bulletin Aims and scope

Abstract

The dynamics of a mobile vehicle with three omni wheels is considered for the case when the vehicle moves on a fixed perfectly rough plane by inertia. In order to study the effect of wheel roller inertia on the stability of the rectilinear motion of the vehicle, the fore wheel is modeled by the following rigid bodies: a wheel disk and a supporting roller such that the roller does not slip with respect to the plane. The rear wheels are modeled by disks slipping without friction in the direction perpendicular to their planes (an inertialess model of an omni wheel). We propose some dynamic equations of motion of the vehicle in the form of Tatarinov’s laconic equations for systems with differential constraints. These equations are related to the dynamic equations obtained for a vehicle with three inertialess omni wheels. The stability of rectilinear motions is analyzed.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

References

  1. Yu. G. Martynenko A. M. Formal’skii, “On the Motion of a Mobile Robot with Roller-Carrying Wheels,” Izv. Akad. Nauk SSSR, Teor. Sist. Upravl., No. 6, 142–149 (2007) [J. Comput. Syst. Sci. Int. 46 (6), 976–983 (2007)].

    MathSciNet  MATH  Google Scholar 

  2. A. A. Zobova Ya. V. Tatarinov, “The Dynamics of an Omni-Mobile Vehicle,” Prikl. Mat. Mekh. 73(1), 13–22 (2009) [J. Appl. Math. Mech. 73 (1), 8–15 (2009)].

    MathSciNet  MATH  Google Scholar 

  3. I. I. Kosenko K. V. Gerasimov, “Physically Oriented Simulation of the Omnivehicle Dynamics,” Nelin. Dinam. 12(2), 251–262 (2016).

    Article  MathSciNet  MATH  Google Scholar 

  4. Ya. V. Tatarinov, Classical Mechanics Equations in Laconic Forms (Mosk. Gos. Univ., Moscow, 2005) [in Russian].

    Google Scholar 

  5. I. G. Malkin, Theory of Stability of Motion (Nauka, Moscow, 1996) [in Russian].

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Moscow State University, Faculty of Mechanics and Mathematics, Leninskie Gory, Moscow, 119899, Russia

    G. N. Moiseev & A. A. Zobova

Authors
  1. G. N. Moiseev
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. A. A. Zobova
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to G. N. Moiseev or A. A. Zobova.

Additional information

Original Russian Text © G.N. Moiseev, A.A. Zobova, 2018, published in Vestnik Moskovskogo Universiteta, Matematika. Mekhanika, 2018, Vol. 73, No. 6, pp. 78–82.

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Moiseev, G.N., Zobova, A.A. Stability of the Rectilinear Motion of an Omni Vehicle with Consideration of Wheel Roller Inertia. Moscow Univ. Mech. Bull. 73, 145–148 (2018). https://doi.org/10.3103/S0027133018060043

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3103/S0027133018060043

Search

Navigation