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Title: Investigation of longitudinal friction characteristics of an omnidirectional wheel via LuGre model
Authors: Şahin, Osman Nuri
Dede, Mehmet İsmet Can
Keywords: Holonomic mobile robot
Wheel friction model
Omnidirectional wheels
Wheel slippage
Issue Date: 2021
Publisher: Cambridge University Press
Abstract: In recent years, omnidirectional wheels have found more applications in the design of automated guided vehicles (AGV). In this work, LuGre friction model is used for an omnidirectional wheel. A test setup that includes a single omnidirectional wheel is designed and constructed to identify the model parameters. With the help of the constructed test setup, the longitudinal friction characteristic of the omnidirectional wheel is obtained, and the model is verified via validation tests. In addition, for the first time, the effect of lateral frictional force on longitudinal motion is examined for an omnidirectional wheel through experiments.
ISSN: 0263-5747
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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