Abstract
The article describes a mobile robotic platform for transporting airplanes on the airfield. A design scheme of the “towing tractor-plane” system in the form of a two-section wheeled robot with the leading front part and the trailed rear one, interconnected by a cylindrical hinge, is proposed. Each section is a three-wheeled mobile platform with two independently motorized coaxial wheels and one passive wheel, while in the front section, the side wheels are leading. A mathematical model of motion of a two-section wheeled robot is described, taking into account nonholonomic constraints, wheel friction against the surface, as well as the relative movement of the sections. A system of differential equations, describing the motion dynamics of a two-section mobile robot, has been obtained. The criteria for the absence of lateral slippage of the driving wheels have been defined. The adequacy of the mathematical model is checked.
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Politov, E., Afonin, D., Bartenev, V. (2020). Mathematical Modeling of Motion of a Two-Section Wheeled Robot. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_32
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DOI: https://doi.org/10.1007/978-981-13-9267-2_32
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