DocumentCode
646516
Title
Loads analysis of skid steer robot drive system
Author
Lopatka, Marian Janusz ; Muszynski, Tomasz ; Rubiec, Arkadiusz
Author_Institution
Mech. Fac., Dept. of Machine Eng., Mil. Univ. of Technol., Warsaw, Poland
fYear
2013
fDate
26-29 Aug. 2013
Firstpage
362
Lastpage
367
Abstract
This paper presents the results of 3 tons skid steer 6×6 wheel robot drive system field tests. The aim of the investigation was verification of assumed data for drive train design and forces identification in the drivetrain system during maneuvering and crossing obstacles. Robot has hydraulics drive system with motors in the wheels and hydraulic suspension system. The needed drive torque on wheels was determined by pressure measuring on motors.
Keywords
hydraulic drives; hydraulic motors; hydraulic systems; robot dynamics; steering systems; suspensions (mechanical components); wheels; drive torque; drive train design; force identification; hydraulic drive system; hydraulic motors; hydraulic suspension system; load analysis; skid steer robot drive system; wheel robot drive system field tests; Gravity; Mobile robots; Resistance; Timing; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location
Miedzyzdroje
Print_ISBN
978-1-4673-5506-3
Type
conf
DOI
10.1109/MMAR.2013.6669934
Filename
6669934
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