Model of Dynamics of the Three Wheeled Mobile Platform
In this work the dynamics model of the three wheeled mobile robot, with two rear wheels and one front castor wheel, was proposed. It has been assumed, that every wheel is equipped with the independent drive units. The motion parameters of the mobile platform have been determined by adopting classical approach of mechanics. The presented model is designed to analyze and to get the motion parameters, such as position, velocity and acceleration. In the work the differential equations were formulated and the results by using the proposed Runge-Kutta method of the fourth order can be obtained. In the model the relations between the active and passive forces with their influence to each other have been introduced. The problem of the forced motion and free motion of the platform with the possibility of modification of the drive modulus positions has been considered. The work is dedicated to the designing motion of the three wheeled mobile platform under the unsteady conditions.
KeywordsDynamics of motion Motion parameters Mobile platform
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