Duda Sławomir, Gembalczyk Grzegorz, Machoczek Tomasz, Kowalik Zygmunt
Department of Theoretical and Applied Mechanics, Silesian University of Technology, Konarskiego 18A, 44-100 Gliwice, Poland.
Department of Mechatronics, Silesian University of Technology, Akademicka 2A, 44-100 Gliwice, Poland.
Sensors (Basel). 2025 Aug 13;25(16):5026. doi: 10.3390/s25165026.
This paper presents the results of experimental research on rolling resistance forces occurring during the motion of omnidirectional wheels equipped with dual rows of passive rollers. Due to the complexity of wheel-surface interactions and the stochastic nature of contact transitions, such wheels are often characterized experimentally rather than analytically. A custom-built test stand was used to measure resistance forces for different wheel orientations (0°, 30°, 45°, 60°, and 90°) and two vertical loads (117.7 N and 215.8 N) on two surface types: industrial concrete and anodized aluminum. The results demonstrated a strong influence of wheel orientation on resistance, with the highest mean force recorded at 60° for both loads. The results revealed an oscillatory pattern in the resistance force, strongly influenced by the angular position of the wheel. For concrete, mean forces ranged from 1.04 N to 10.34 N, while for aluminum, they ranged from 1.08 N to 10.11 N. Significant oscillations and occasional negative force values were observed, attributed to roller geometry and wheel irregularities. The data obtained are useful for validating numerical models and improving the design and control of mobile robots using omnidirectional wheels.
本文介绍了对配备双排被动滚轮的全方位轮在运动过程中产生的滚动阻力进行实验研究的结果。由于轮面相互作用的复杂性以及接触过渡的随机性，此类轮子通常通过实验而非分析来表征。使用定制的试验台来测量在两种表面类型（工业混凝土和阳极氧化铝）上，不同轮向（0°、30°、45°、60°和90°）以及两种垂直载荷（117.7 N和215.8 N）下的阻力。结果表明轮向对阻力有很大影响，两种载荷下在60°时记录到的平均力最高。结果揭示了阻力的振荡模式，受轮子的角位置强烈影响。对于混凝土，平均力范围为1.04 N至10.34 N，而对于铝，范围为1.08 N至10.11 N。观察到明显的振荡和偶尔的负力值，这归因于滚轮几何形状和轮子的不规则性。所获得的数据对于验证数值模型以及改进使用全方位轮的移动机器人的设计和控制很有用。
