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
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;
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
DOI :
10.1109/MMAR.2013.6669934
