Conditions for slip- and separation-free rolling of a uniaxial wheeled transport platform on a rough underlying surface

摘要

We study conditions for slip-free motion of a uniaxial wheeled transport platform (UWTP) on a rough underlying surface and a condition for the nonseparation of the wheels from this surface. We obtain a formal description of such conditions as a system of inequalities, which allows one to test them continuously in the course of motion of the UWTP. The conditions for slipand separation-free motion are tested at each time instant by calculating the underlying surface constraint forces as functions of the measured kinematic parameters of the motion. In conclusion, an example of numerical construction of slip- and separation-free domains in the axes of angular velocities and accelerations of UWTP wheels for a prescribed angular motion of its platform with respect to the horizontal plane is given.