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Journal articles on the topic 'Wheels'
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1
Mohanraj, A. P., P. Parameshwaran, B. P. Sivasubramaniyan, P. Srinivasan, and V. Nijanthan. "The Importance of the Fourth wheel in a Four-wheeled Omni Directional Mobile Robot-An Experimental Analysis." Journal of Physics: Conference Series 2601, no. 1 (September 1, 2023): 012004. http://dx.doi.org/10.1088/1742-6596/2601/1/012004.
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Abstract A four-wheeled Omni Directional Robot may travel in any direction without turning its wheels. In this research work, four Omni-directional wheels have been placed at 90°. This four-wheeled, omnidirectional mobile robot appears to be a square design from the top view, with its wheel axes at 90 degrees. Power is given to the front wheel using a DC motor and that wheel alone will rotate. All other three wheels (Right, Left and Back) are kept in neutral positions. These wheels can move based on the front wheel’s rotation. No power given to these wheels. Three different practical analyses have been done. In this first experimental analysis, the back wheel is kept as an Omni direction wheel. In this Second experimental analysis, the back wheel is kept as a Roller wheel. In this Third experimental analysis, the back wheels are removed and the other three wheels are kept and analysis is done. The importance of the back wheel in the four-wheeled Omni Directional Robot is demonstrated in this research work.
2
Zhao, Jianwei, Yuanshuang Liu, Yuanyuan Qu, Feng Bian, and Yu Ban. "Model and simulation of four-wheeled robot based on Mecanum wheel." International Journal of Modeling, Simulation, and Scientific Computing 08, no. 02 (October 24, 2016): 1750015. http://dx.doi.org/10.1142/s1793962317500155.
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Based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheels, we combine these two kinds of wheels’ respective motion principle with their advantages to design a new type of four-wheeled robot: install the Mecanum wheels at the end of “[Formula: see text]”-shaped planetary wheel group. The wheel designed based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheel can adapt to the complex terrain such as stairs, steps, and at the same time it can achieve the rotation of the whole body in a limited space. This paper studies the adaptability of the four-wheeled robot to the stairs, analyzing and calculating the parameters of the four-wheeled robot and the stairs.
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Yang, Baoan, and Ya Ping Ye. "Research on Approaches to Aluminum Alloy Automotive Wheels' Lightweight Design." Advanced Materials Research 774-776 (September 2013): 465–68. http://dx.doi.org/10.4028/www.scientific.net/amr.774-776.465.
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Wheels should meet strength requirements and achieve lightweight design. The analysis of structure characteristics of the aluminum alloy automotive wheels that are widely used was done. Based on the wheel radial fatigue test, the wheel's load was determined. The analysis of the wheel was done applying 3D modeling technology and FEA (finite element analysis) theory, and the results can be used as the theoretical basis of aluminum alloy automotive wheels' lightweight design.
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Gonçalves, Vítor, Araliya Mosleh, Cecília Vale, and Pedro Aires Montenegro. "Wheel Out-of-Roundness Detection Using an Envelope Spectrum Analysis." Sensors 23, no. 4 (February 14, 2023): 2138. http://dx.doi.org/10.3390/s23042138.
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This paper aims to detect railway vehicle wheel flats and polygonized wheels using an envelope spectrum analysis. First, a brief explanation of railway vehicle wheel problems is presented, focusing particularly on wheel flats and polygonal wheels. Then, three types of wheel flat profiles and three periodic out-of-roundness (OOR) harmonic order ranges for the polygonal wheels are evaluated in the simulations, along with analyses implemented using only healthy wheels for comparison. Moreover, the simulation implements track irregularity profiles modelled based on the US Federal Railroad Administration (FRA). From the numerical calculations, the dynamic responses of several strain gauges (SGs) and accelerometer sensors located on the rail between sleepers are evaluated. Regarding defective wheels, only the right wheel of the first wheelset is considered as a defective wheel, but the detection methodology works for various damaged wheels located in any position. The results from the application of the methodology show that the envelope spectrum analysis successfully distinguishes a healthy wheel from a defective one.
5
Yang, Bao An, Xu Hui Li, Fei Yang, Zi Ru Niu, and Zhi Hong Wang. "The Structure Optimization of Aluminum Alloy Automotive Wheels." Advanced Materials Research 753-755 (August 2013): 1175–79. http://dx.doi.org/10.4028/www.scientific.net/amr.753-755.1175.
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The aluminum alloy automotive wheels are widely used and their quality safety is vital. So their structure design should be optimized. Based on the wheel bending fatigue test and the analysis of aluminum alloy automotive wheel's structure characteristics, the wheel's load was discussed and the analysis of the wheel was done by using Solidworks and ANSYS. The analysis result provides scientific basis for the optimization design of the aluminum alloy automotive wheels.
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Wu, Yue, Xuesong Jin, Wubin Cai, Jian Han, and Xinbiao Xiao. "Key Factors of the Initiation and Development of Polygonal Wear in the Wheels of a High-Speed Train." Applied Sciences 10, no. 17 (August 25, 2020): 5880. http://dx.doi.org/10.3390/app10175880.
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The polygonal wear of train wheels occurs commonly in rail transport and increases the wheel–rail interaction force dramatically and has a bad effect on the safety and comfort of the train. The mechanism of polygonal wear needs to be studied. The characteristics of test data measured from 47,000 sets of polygonal wheels of high-speed trains were analysed statistically. The analysis shows that, in the entire use life cycle of the wheels, the order (wavelength) and development speed of polygonal wear are different; they correspond to different wheel diameters because of wear and re-profiling. A prediction model, which considered the flexibility of the wheelset for the polygonal wear of the wheels of high-speed trains, was developed to explain this phenomenon. This theoretical model analyses the initiation, development, and characteristics of polygonal wear. The analysis includes the effect of the high-frequency flexible deformation of the wheelset, train operation speed, and wheel diameter variation. This study suggests that, if the wheel perimeter is nearly an integral multiple of the wavelength of severe periodic wear along the wheel circumference, the polygonal wear on the wheel can develop quickly. Furthermore, the wavelength of the periodic wear of the wheel relies on the operation speed of the train and wheelset resonant frequency. Therefore, the initiation and development of polygonal wear on wheels depends on the operation speed, wheel diameter, and the resonant frequencies of the wheelset. This conclusion can be applied to research concerning measures associated with the suppression of polygonal wear development.
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Antoshchenkov, Roman, Serhii Bogdanovich, Ivan Halych, and Halyna Cherevatenko. "Determination of dynamic and traction-energy indicators of all-wheel-drive traction-transport machine." Eastern-European Journal of Enterprise Technologies 1, no. 7 (121) (February 28, 2023): 40–47. http://dx.doi.org/10.15587/1729-4061.2023.270988.
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The results of a study of dynamic and traction-energy indicators of an all-wheel drive wheeled traction-transport machine are presented. A diagram of a dynamic transmission model for an all-wheel drive wheeled traction and transport machine and a system of equations for the transmission dynamics in the Cauchy form have been compiled. This made it possible to determine the dependences of the angular speeds of rotation of the transmission elements of the traction-transport machine, the dependences of the torques and the dependences of the contacting traction forces on the wheels on time. The method allows to determine the optimal transmission parameters, differential designs and gear ratios to improve the traction and coupling and fuel-economic performance of the machine. It has been established that the angular speeds of rotation of the front wheels of the traction-transport machine 1.29 rad/s, 1.27 rad/s are higher than the angular speeds of rotation of the rear wheels 1.24 rad/s, 1.25 rad/s, which leads to the appearance of a kinematic discrepancies and additional energy losses. The torques of the front drive wheels are 6972 Nm, the rear drive wheels are 4622 Nm. The contacting traction forces on the front wheels of the machine are 5478 N after the end of the acceleration of the machine, on the rear wheels – 3473 N. Experimental studies were carried out on the example of an all-wheel drive wheeled tractor with an articulated frame to validate the method for assessing the dynamics of the traction-transport transmission. The difference between the values of the angular speeds of rotation of the wheels and the tangential traction forces on the wheels, determined theoretically and obtained during experimental studies, is 2 %. The developed method for assessing the transmission dynamics of an all-wheel drive traction and transport machine should be considered valid. The method proposed in the paper can be used to assess the dynamics of wheeled machines
8
Takahashi, Naoki, and Kenichiro Nonaka. "Model Predictive Leg Configuration Control for Leg/Wheel Mobile Robots that Adapts to Changes in Ground Level." Journal of Robotics and Mechatronics 35, no. 1 (February 20, 2023): 160–70. http://dx.doi.org/10.20965/jrm.2023.p0160.
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Leg/wheel mobile robots, which have articulated legs ending in a wheel, can walk on legs as well as drive on wheels by switching between those two motive mechanisms in response to the terrain. However, effective control of the redundant degrees of freedom of leg/wheel mobile robots is complex. In this study, we propose a model predictive controller for leg configuration control that achieves both driving along the ground surface and climbing over a step. The proposed method simultaneously optimizes the robot pose, wheel positions, and joint angles. To consider the kinematic configuration of the legs explicitly, we formulate constraints on the relative position between the body and wheels. The ground contact condition of the wheels is approximately expressed as a continuous function with respect to each wheel’s relative position to the ground. This formulation induces smooth lifting of the wheels when the ground level abruptly changes, as when climbing a step. To prevent overturning, we evaluate the load distribution between each grounded wheel and constrain the body position to form a support polygon consisting of the grounded wheels. We conducted numerical simulations to verify that the proposed method achieves both driving on wheels and climbing over a step.
9
Barke, D. W., and W. K. Chiu. "A Review of the Effects of Out-Of-Round Wheels on Track and Vehicle Components." Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 219, no. 3 (May 1, 2005): 151–75. http://dx.doi.org/10.1243/095440905x8853.
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Out-of-round rollingstock wheels are caused by skidding or spalling of the wheel tread and by dynamic motion of wheels and wheelsets in service. Out-of-round wheels generate impact forces at the wheel-rail interface, which are transferred to train and to track components including rail and both bolted and welded rail joints, prestressed concrete sleepers, ballast, wheels, and bearings. To make a rational decision about removing out-of-round wheels from service, estimation of the damage caused by an individual wheel is required. Previous studies have used analytical and numerical models to illustrate the distribution of impact into track and rolling stock components. These models are compared here. The review details mathematical models and studies of the lives of the earlier-listed components, which would provide a means of determining the damage caused by impacting wheels. In addition, studies have found that impacting wheels increase fuel consumption and increase pass-by noise levels, which are also discussed here. Further study of the effect of impacting wheels on axle bearing lives, parent rail, and bridges would improve this decision-making tool. It is envisaged that these models would be combined to determine the total cost of operating rolling stock with impacting wheels. This could be offset against the cost of wheelset maintenance to determine when an impacting wheel should be reprofiled.
10
Somov, Dmitrij, and Žilvinas Bazaras. "THE RESTORATION OF PHYSICAL AND MECHANICAL PROPERTIES OF WHEEL RIM METAL." TRANSPORT 26, no. 3 (October 5, 2011): 240–47. http://dx.doi.org/10.3846/16484142.2011.622132.
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Despite reduced resistance to wheel rim wear, after every grinding, only geometrical parameters of wheels are restored at maintenance depots. A tendency towards a decrease in the exploitation of wheel rim working edge induces the acquisition of new wheels, is related to a considerable increase in axle load and train speed as well as linked to the ineffective methods of repairing wheel rim working edge. A solution to the problem of restoring the surface of wheelset rolling, as a wider problem of rolling stock durability, is determined by the fact that the breakdown of the rolling wheelset and the loss of its efficiency shortens the service time of the wheelset. The cost of pointless and inefficient renovations of geometrical wheelset parameters increases and is of a very high rate. The problem of efficient renovations to rims and steel used for wheels within the maintenance of wheelsets becomes a burning issue today.
11
Hijikata, Masaaki, Renato Miyagusuku, and Koichi Ozaki. "Omni Wheel Arrangement Evaluation Method Using Velocity Moments." Applied Sciences 13, no. 3 (January 26, 2023): 1584. http://dx.doi.org/10.3390/app13031584.
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Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consider the moment of propulsive force generated by the wheels. Since it is difficult to measure the propulsive force accurately, in this work we model propulsive forces as being proportional to the ground speed of the wheels. Under this assumption, we estimated the robot’s behavior in an asymmetric wheel configuration by considering the balance of the velocity moment, which is the moment of the wheel’s ground speed. By verifying the robot’s behavior with various wheel configurations, we confirmed experimentally that the sum of the velocity moments affects the straightness of the robot and allows us to improve the design of asymmetric wheel arrangements and control during wheel failures.
12
Meshram, Poonam, and Ashish Sinha. "“DESIGN & OPTIMIZATION OF ALLOY WHEEL RIM USING ANSYS”." SMART MOVES JOURNAL IJOSCIENCE 4, no. 6 (June 26, 2018): 5. http://dx.doi.org/10.24113/ijoscience.v4i6.147.
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Alloy wheels are automobile wheels which are made from an alloy of aluminum or magnesium metals or sometimes a mixture of both. Alloy wheels differ from normal steel wheels because of their lighter weight, which improves the steering and the speed of the car. Alloy wheels will reduce the unstrung weight of a vehicle compared to one fitted with standard steel wheels. The benefit of reduced unstrung weight is more precise steering as well as a nominal reduction in fuel consumption. Alloy is an excellent conductor of heat, improving heat dissipation from the brakes, reducing the risk of brake failure under demanding driving conditions. At present four-wheeler wheels are made of Aluminum Alloys. In this project, Aluminum alloy are comparing with another Alloy. In this project a parametric model is designed for Alloy wheel used in four-wheeler by collecting data from reverse engineering process from existing model. Design is evaluated by analyzing the model by taking the constraints as ultimate stresses and variables as different alloy materials and different loads and goals as maximum outer diameter of the wheel and fitting accessories areas like shaft of the axle and bolts PCD of the car. Car model is Toyota.
13
Antoshchenkov, Roman, Galina Cherevatenko, Vadim Zadorozhny, Oleksandr Svitlichny, and Mikita Kuskov. "Research of the dynamics of the all-wheel-drive tractor-transport machine." Ukrainian Journal of Applied Economics and Technology 8, no. 3 (August 30, 2023): 336–41. http://dx.doi.org/10.36887/2415-8453-2023-3-51.
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The study results of the dynamic and traction-energy performance of an all-wheel drive traction-transport vehicle have been presented. A diagram of a dynamic model of the transmission of an all-wheel drive traction-transport vehicle and a system for calculating the transmission dynamics in the Cauchy form has been compiled. The method makes it possible to determine the distribution of the coil fluids of the transmission elements of a traction-transport vehicle, the distribution of torque moments, and the distribution of additional traction forces on the wheels per hour. The method allows you to determine the optimal transmission parameters, differential design, and transmission numbers to improve the traction and fuel-economic performance of the machine. It has been established that the speed of the front wheels of a traction and transport vehicle is 1.29 rad/s, 1.27 rad/s, and the speed of the rear wheels is 1.24 rad/s, 1.25 rad/s, which should be carried out until kinematic instability and additional energy consumption. The torque values of the front drive wheels are 6972 N m, and the rear drive wheels are 4622 N m. The additional traction forces on the car's front wheels are 5478 N after the car's acceleration is completed, and on the rear wheels, they are 347 3 N. To verify the adequacy of the method for assessing the dynamics of an all-wheel drive transmission, Wheeled traction, and transport vehicles have been developed to simulate the dynamics and energy systems of mobile vehicles—experimental research of the machine on the butt of an all-wheel drive wheeled tractor with an articulated frame. The difference between the values of the heel fluids of the wheel wraps, theoretically and experimentally, is 2%, which indicates a significant loss of the heel fluids by the wheel dynamics sensors. A comprehensive method for assessing the transmission dynamics of an all-wheel drive traction and transport vehicle must be considered adequate. The robotic method can be used to assess the dynamics of wheeled vehicles in motor vehicles. Keywords: cutting speed, torque, traction force, transmission, traction, and transport vehicle.
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Radkevich, А. А., Wu Xinxin, А. А. Velchenko, and S. A. Pauliukavets. "Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels." Doklady BGUIR 22, no. 1 (February 28, 2024): 82–90. http://dx.doi.org/10.35596/1729-7648-2024-22-1-82-90.
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The article discusses the issue of controlling a four-wheeled mobile robot with omnidirectional wheelsof the mecanum type. An analysis of the rotational motion of the omnidirectional mecanum wheel was carriedout, based on its kinematics. For a specific robot with certain overall parameters, a graph of changes in the radiusof the mecanum wheel depending on the angle of its rotation was constructed. Kinematic and dynamic modelsof a mobile four-wheeled robot have been compiled, taking into account its geometric characteristics. The presented expressions are a mathematical description of the behavior of a mobile robot in statics and dynamics. Basedon the obtained models, the principles of operation of the motion control system for a four-wheeled mobile roboton omnidirectional wheels of the mecanum type are formed.
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Luo, Hai, Jiangming Ding, Jiabing Jiang, Lingxun Li, Jie Gong, and Ning Lyu. "Resistance Characteristics and Improvement of a Pump-Jet Propelled Wheeled Amphibious Vehicle." Journal of Marine Science and Engineering 10, no. 8 (August 10, 2022): 1092. http://dx.doi.org/10.3390/jmse10081092.
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Pump-jets have a relatively high propulsion efficiency at medium speed and in heavy-load conditions for wheeled amphibious vehicles. However, the geometry of amphibious vehicles is very special due to the installation requirements of the pump-jet, which results in an obvious resistance on the wheels. In order to reduce the resistance of the amphibious vehicle, the resistance characteristics of the wheels are studied. Regarding a pump-jet-propelled wheeled amphibious vehicle, its wheel resistance characteristics in a wide speed range are firstly analyzed based on experiments and numerical simulations. By comparing the resistance of the amphibious vehicle with and without wheels, it is found that the hydrodynamic effect of wheels can increase the total resistance of the amphibious vehicle by 14~28%. Then, the wheel hydrodynamic effect is divided into local effect and global effect. By analyzing the changes in resistance, pressure distribution and streamline, the influence and hydro-mechanism of each effect are explored in detail. It is found that the longitudinal convex and concave structures formed by the wheels and wheel wells have a large negative effect on the total resistance. According to the hydro-mechanism, two resistance improvement approaches are proposed, which includes increasing wheel retraction and installing flat plates on the wheel well bottom. Finally, the ultimate resistance improvement model can reduce resistance by no less than 10% and power by on less than 8% in design speed.
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Kuzyshyn, A. "INVESTIGATION THE INFLUENCE DIFFERENCE OF THE WAGON’S WHEELS DIAMETERS ON ITS DERAILMENT BY QUASI-DYNAMICS METHOD." Criminalistics and Forensics, no. 64 (May 7, 2019): 608–14. http://dx.doi.org/10.33994/kndise.2019.64.57.
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In the article the author notes that the horizontal forces arising in the process of pressing the wheel flanges to the working edge of the rail, under certain conditions can be very significant. These forces, in combination with the wheel unloading, caused by the geometric deviation of the track in the plan and profile, can lead to rolling the wheel of the wheelset onto the rail head and, as a consequence, to the stock derailment. Such pressing of the wheel to the rail head in the straight part of the track can occur when faults in the running gears of the wagons: non-parallelism of the axles of the wheel pairs of the bogie frame by the difference in the bases of the side frames, wear of the guide axle-box openings; the difference of the flanges on one wheel pair is more than permissible, wear of the body and bogie bolster center plates, step bearing; a significant difference in the diameters of the wheels of the wheelset caused by the intense wear of the rolling surface of one of them, etc. The article deals with the investigation of the influence of the wheels’ diameters difference of the wheelset on the amount of lateral force for the empty and loaded state of the rolling stock wagon. The results obtained made it possible to conclude that an increase in the wheels’ diameters difference of the wheelset of a loaded wagon of rolling stock leads to more intensive growth of the lateral force, as compared with the exhaust. This is caused by the linear dependence of the lateral force on the mass of the wagon of the rolling stock. However, for both the empty and the loaded wagon, the increase in the lateral force value has a negative effect. In conjunction with the unloading of the wheel it increases the probability of rolling in the wheel of the wheelset on the rail head. Also, an increase in the action of the lateral force from the wheelset on the rail, causes increased wear of the rail, the wheel flange, which is pressed. At the same time, rolling surfaces of an irregular shape are formed on the surface of the other wheel. Therefore, it is important to ensure the maintenance of the wheels of a wheel pair with the smallest difference in its diameters. Key words: rolling stock, diameter difference of wheels, quasi-dynamics method.
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Luan, Li Jun, Ning Li, Sheng Chang, and Shu Hua Yu. "The Optimization Design of the Tunneller Drive Wheels Walk Department." Advanced Materials Research 479-481 (February 2012): 977–81. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.977.
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In this paper, do a stress analysis research on driving wheels of EBZ16 road header walking components, set up the 3D model by Pro/E, through the interface between Pro/E and ANSYS, import the wheel model into ANSYS ,have a static stress analysis, check the wheel’s strength .Have a topological optimization by OC method on driving wheel, from the result we can see this design can basically satisfy the demand, and can reduce %15 volume than the former design ,provide theory basis for improving the design and performance of the driving wheels.
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Lan, Guiping, Yujun Wang, Can Fang, and Min Yi. "Novel Design of a Biaxial and Four-Wheeled Robot Capable of Steering." MATEC Web of Conferences 160 (2018): 06006. http://dx.doi.org/10.1051/matecconf/201816006006.
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The paper presents a biaxial and four-wheeled robot, mainly composed of two axle, two circular wheels and two three-leaved wheels. By analyzing the difference between the velocity of the circular wheel and three-leaved wheel in same axle, the steering principle of the difference velocity is proved. The three-leaved wheels are installed by a complementary phase method to ensure the stability of the robot walking. Through the steering principle, the control method of robot’s forward, backward, turn left and turn right is designed. A large number of experimental results show that the robot has the characteristics of high steering efficiency, simple mechanical structure and easy to control.
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Du, Zi Xue, Xiao Xia Wen, and Zheng Shen. "The Impact Analysis of Tire Parameter for Tire Wear When Monorail Vehicle Curve Driving." Applied Mechanics and Materials 470 (December 2013): 529–33. http://dx.doi.org/10.4028/www.scientific.net/amm.470.529.
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monorail spatially coupled dynamic modeling which has three directions attached contacts wheel have been established. According to the simulation and experimental results, dynamic model was validated. based on the dynamic coupling modeling , the tire parameter influence trends for the tire wear of walking wheel’s tires were analyzed when monorail vehicle curve driving. The analysis result revealed that because the contact of straddle-beam monorail is special, with the cornering stiffness increases of walking wheel tire, by the impact of the contact radial force from guide wheels and stabilizing wheels, the lateral forces of walking wheel is gradually increasing. tire wear speed increases at a constant when monorail vehicle curve driving.
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Chudzikiewicz, Andrzej, Juraj Gerlici, Magdalena Sowińska, Anna Stelmach, and Wojciech Wawrzyński. "Modeling and simulation of a control system of wheels of wheelset." Archives of Transport 55, no. 3 (September 30, 2020): 73–83. http://dx.doi.org/10.5604/01.3001.0014.4234.
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Modern light rail vehicles, such as a tram or rail bus, due to the need to provide mobility for the elderly or disabled people and the requirements of operators operating passenger rail transport or transport in urban areas must have a 100% low floor. Structurally, this is associated with the use of wheelset with independently rotating wheels (IRW) in such vehicles. It is also possible to use a bogie structure without the use of a wheelset axle by mounting the wheels directly in the side parts of the bogie frame. This construction is more complex and will not be discussed in this article. Bearing in mind the dynamic behavior of such vehicles during operation (lateral stability, profile wear) in various driving conditions (curve traffic, crossovers) and taking into account operating costs, it becomes necessary to install wheel rotation control systems to maintain center movement mass of the wheelset around the centerline of the track. The subject of the article will be considerations on modeling and simulation of rail vehicle bogie motion with IRW sets including the wheel control system. Nominal and mathematical models of the analyzed vehicle will be presented, as well as a controlled strategy based on the comparison of the angular velocities of the wheels of the wheelset A review of works on solutions of such systems will be presented, and a control concept will be proposed. The summary contains conclusions regarding the possibility of practical use of the proposed method of steering wheels of a wheelset in the c ase of independently rotating wheels.
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Wu, BW, QF Qiao, GX Chen, JZ Lv, Q. Zhu, XN Zhao, and H. Ouyang. "Effect of the unstable vibration of the disc brake system of high-speed trains on wheel polygonalization." Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 234, no. 1 (March 4, 2019): 80–95. http://dx.doi.org/10.1177/0954409719833787.
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This paper conducts a detailed investigation into the formation mechanism of wheel polygonalization in high-speed trains and its influence factors through numerical simulation. A finite element model including two rails, one wheelset, and three disc brake units is set up to study the formation mechanism of wheel polygonalization in high-speed trains based on the point of view of frictional self-excited vibration. Using the finite element complex analysis, the dynamic stability of the wheelset–track–disc brake system is studied. In addition, the influence factors on the wheel polygonalization are investigated. Results show that when the longitudinal creep force is unsaturated, the 21-order polygonal wear of wheels occurs easily due to the self-excited vibration of the disc brake unit. When the longitudinal creep force is saturated, the 12-order polygonal wear of wheels probably occurs due to the self-excited vibration of the disc brake unit. The bigger the friction coefficient between the brake disc and pad, the greater the occurrence propensity of the polygonal wear of wheels. Vertical fastener damping that is too large or too small is disadvantageous for suppressing wheel corrugation. However, increasing the lateral fastener damping is beneficial for reducing the polygonal wear of wheels. When the vertical fastener stiffness is 25 MN/m, 7-order, 9-order, and 14-order wheel polygonalization can easily occur. A higher lateral fastener stiffness is beneficial for the suppression of wheel polygonalization.
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Shi, Yan, Miao Li, Weihua Ma, and Kang Chen. "Dynamic of Friction Coupling Independently Rotating Wheels for High Speed." Shock and Vibration 2017 (2017): 1–8. http://dx.doi.org/10.1155/2017/7456598.
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A new lateral coupling structure with independently rotating wheels (IRW) is proposed, and longitudinal creepage is obtained by replacing the gear pair with the friction pair to synchronize the rotation speed of left and right wheels. The auxiliary wheelset made up of two friction wheels can be placed either under the primary suspension or on the frame. Vehicles dynamics models with three different kinds of bogies are developed, including friction coupling bogie with independently rotating wheels (FCIRW-bogie), bogie with independently rotating wheels (IRW-bogie), and bogie with rigid wheelsets, and their guiding and resetting capability when negotiating large-radius curves are compared and analyzed. Results show that FCIRW has the advantages of both IRW and rigid wheelset. On the straight track, FCIRW has sufficient wheel-rail longitudinal creep force to assist the reset; its critical speed is much higher than that of the rigid wheelset. On the curved track, the whole vehicle wear power of FCIRW-bogie vehicle is about 2/3 of the rigid axle level.
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Shiler, Valeriy Viktorovich, Alexander Valeryevich Shiler, Alexander Vasilyevich Smolyaninov, and Konstantin Mikhaylovich Kolyasov. "Influence of peculiarities of block wheelset dynamics on life of axle-box bearings." Transport of the Urals, no. 4 (2022): 33–38. http://dx.doi.org/10.20291/1815-9400-2022-4-33-38.
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Standard (typical) wheelset is a direct connection of an axle and two wheels. Wheels have tread surface that provides rounding a curve and centering (winding movement) on tangent track. The authors propose a new design of a wheelset, in which functions of holding and directing the wheelset (flange) are separated from wheel (support wheel) tread surface. Such a wheelset has a row of advantages in comparison with a typical design. The paper proposes a method for a comparative assessment of life of twin cylindrical axle-box bearings in block and standard designs of wheelsets of freight cars. It is established that life of axe-box bearings in a block wheelset is 1.7-2.3 times bigger than in a standard one.
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Liu, Yanjie, Yanlong Wei, Chao Wang, and Heng Wu. "Trajectory Optimization for Adaptive Deformed Wheels to Overcome Steps Using an Improved Hybrid Genetic Algorithm and an Adaptive Particle Swarm Optimization." Mathematics 12, no. 13 (July 2, 2024): 2077. http://dx.doi.org/10.3390/math12132077.
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Two-wheeled mobile robots with deformed wheels face low stability when climbing steps, and their success rate in overcoming steps is affected by the trajectory. To address these challenges, we propose an improved hybrid genetic and adaptive particle swarm optimization (HGAPSO) algorithm to optimize the deformed wheels’ trajectory for overcoming steps. HGAPSO optimizes the maximum and minimum values of the inertial weight and learning factors of the adaptive particle swarm algorithm utilizing the region-wide search capabilities of the genetic algorithm, which substantially improves the convergence speed and adaptability. Furthermore, the analysis of the motion of the deformed wheel overcoming the steps and the examination of the potential interference during the operation are used to construct a wheel’s center-of-mass route based on fifth-order Bézier curves. Comparative simulation experiments of the trajectories optimized using different optimization algorithms under the same working conditions are designed to demonstrate the efficacy of the proposed HGAPSO algorithm in optimizing the trajectory of the deformed wheel overcoming the step. Simulation experiments were conducted using the HGAPSO algorithm to optimize the trajectories of deformation wheels for overcoming steps of various sizes. These optimized trajectories were then compared to unoptimized ones. The results showed that the HGAPSO-optimized trajectories significantly improved the success rate and stability of the mobile robot in overcoming steps.
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Ofuchi, Akira, Daisuke Fujiwara, and Kojiro Iizuka. "An Anchoring Capacity Study Focused on a Wheel’s Curvature Geometry for an Autonomous Underwater Vehicle with a Traveling Function during Contact with Loose Ground Containing Water." Geotechnics 4, no. 2 (March 25, 2024): 350–61. http://dx.doi.org/10.3390/geotechnics4020019.
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The current scallop fishery sector allows many scallops to remain in specified fishing zones, and this process leads to heavy losses in the sector. Scallop fishermen aim to harvest the remaining scallops to reduce their losses. To achieve this, a fisherman must understand the scallop ecology on the seafloor. In our previous study, we proposed a method for measuring scallops using wheeled robots. However, a wheeled robot must be able to resist disturbance from the sea to achieve high measurement accuracy. Strong anchoring of wheels against the seafloor is necessary to resist disturbance. To better understand anchoring performance, we confirmed the wheel anchoring capacity in water-containing sand in an experiment. In this experiment, we towed fixed wheels on water-containing sand and measured the resistance force acting between the wheel and the sand. Afterward, we considered the resistance force as the wheel anchoring capacity on the water-containing sand. The experimental results capture the tendency for the anchoring capacity of sand with/without water to increase with sinkage. The results also demonstrate that the anchoring capacity of water-containing sand is lower than that of non-water-containing sand. However, the results indicate that when the wheels possess lugs, their presence tends to increase the wheels’ anchoring capacity in water.
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Devinder Dhingra, P Barnwal, H.S. Dhingra, and Ashwani Kumar. "Evaluation of Centre of Gravity of Four Wheeled Trailer." Journal of Agricultural Engineering (India) 42, no. 4 (December 31, 2005): 25–27. http://dx.doi.org/10.52151/jae2005424.1143.
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A four-wheeled trailer with flat platform was designed for fabrication of mobile agro-processing unit. The size of the trailer is 4270 mm x 2135 mm and its wheelbase is 263Omm. The location of the centre of gravity in longitudinal, transverse and vertical direction was determined by weighing method I technique. The total weight and the reaction on rear wheels were measured using a weighbridge. These reactions were used to locate the centre of gravity in longitudinal and transverse directions. The rear wheels were lifted and the net reaction on them was measured. The amount of weight transferred to the front wheels is dependent on the height of the centre of gravity. This concept was used to locate the height of the plane-containing centre of gravity. The centre of gravity was located with reference to the plane containing the wheel axles. It was observed to be 1139 mm behind front wheel axle, 618 mm above the wheel axles and midway (perpendicular to the axles) between the wheels.
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Myhajlov, Yevhen, Stanislav Semenov, Yan Dizho, and Miroslav Blatnitsky. "Possibilities of improving the safety of rail vehicles with independently rotating wheels." Journal of Mechanical Engineering and Transport 18, no. 2 (February 14, 2024): 110–19. http://dx.doi.org/10.31649/2413-4503-2023-18-2-110-119.
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One of the promising ways to achieve high speed and smooth running of rail vehicles during stable movement in straight sections of the track and to improve the characteristics of fitting the vehicles in a curve is the use of independently rotating wheels in their running parts. Such undercarriages are already becoming quite widespread, for example, in urban rail transport vehicles. But independently rotating wheels can rotate in a wheel pair around a common axis with different angular velocities. It follows that during their movement, longitudinal creep forces do not arise, which form the controlling moment and center the wheel pair in the rail track. This can lead to increased angles of attack of the wheels on the rails, increased lateral forces and accelerated wear of the wheels and rails. In turn, this increases the tendency of vehicles with independently rotating wheels to derail by rolling the flange onto the head of the rail.
The accumulated global experience of operating similar vehicles confirms this. To overcome the mentioned disadvantages of independently rotating wheels, a number of various technical solutions have been proposed. Some of them relate to ensuring the given elastic-dissipative characteristic of the torsional articulation of the wheels in a wheel pair. A promising direction is the improvement of the characteristics of the connections of wheel pairs with the bogye and bogyes with the vehicle body, the use of mechatronic systems for controlling the position of the wheel pairs in the horizontal plane for their radial installation in curved sections of the track. In this work, attention is paid to the issue of the use in the design of independently rotating wheels of a perspective design scheme that allows independent rotation of the wheel's support surface and its guide surface (flange). The question of the effect of changing the design scheme of the wheel on the safety of movement due to the roll-in of the ridge on the rail head was considered.
The influence of a promising design scheme of a wheel in comparison with a traditional design scheme of a wheel on the safety of driving down a rails was investigated. The peculiarities of the distribution of frictional forces in the ridge contact during movement along the rails of the wheels of both design schemes are analyzed. For a wheel of a traditional design scheme, the module and the direction of the friction force vector in the ridge contact are uniquely determined by the geometric characteristics of the contact between the wheel and the rail and the angular speed of the wheel rotation. At the same time, when the wheel of the prospective design scheme moves, the direction and module of the friction force vector of the ridge on the rail also depend on the ratio of the angular velocities of rotation of the supporting surface of the wheel and its guiding surface (flange) around the common axis. The obtained results allow us to draw a conclusion about the expediency of using a promising design scheme in independently rotating wheels to increase the safety of movement of rail vehicles.
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Neth, Brandon, and Eleni Hasaki. "The Ancient Greek Potter’s Wheel: Experimental Archaeology and Web Applications for Velocity Analysis." Interdisciplinaria Archaeologica Natural Sciences in Archaeology XII, no. 2 (December 30, 2021): 115–25. http://dx.doi.org/10.24916/iansa.2021.2.1.
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The potter’s wheel is central to the understanding of ancient technology, knowledge transfer, and social complexity. With scant evidence of potter’s wheels from antiquity, experimental projects with replica potter’s wheels can help researchers address larger questions on ceramic production. One such set of experiments, performed using the Ancient Greek wheel replica in Tucson modelled on Athenian and Corinthian iconographic evidence, provided useful insight into the qualitative experience of ancient potters. In past experiments, the quantitative analysis of the throwing sessions included data on wheel velocity which had been collected collected over large intervals, comprising entire stages of the throwing process. While this method provides an overview of rotational speed, a continuous velocity graph provides a clearer picture collected data on wheel velocity. To address this, we developed a web application (WheelVis; brandonneth.github.io/wheelvis) to aid in the velocity analysis of experimental potter’s wheels. Users provide a recording of the throwing session and while advancing through the recording, they mark points where the wheel has completed rotations. Using the time intervals between these points, the tool reconstructs a graph of the velocity of the wheel throughout the throwing session. This innovative application provides fast, fine-grained velocity information, and helps archaeologists answer questions about the physical properties of their experimental replicas or wheels used in traditional workshops. Future development of the application will include contextual partitions to allow users to split the throw into different stages, enabling further analysis into the throwing process. Moreover, intelligent error detection would notify users when a mark is likely to be made in error and allow them to correct their mistake.
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Shilo, I. N., N. N. Romanyuk, I. S. Kruk, A. N. Orda, R. R. Galimov, K. Y. Maksimovich, S. A. Voynash, and A. A. Luchinovich. "The influence of the parameters of the running systems of wheeled vehicles on the change in soil density." Traktory i sel hozmashiny 88, no. 5 (October 15, 2021): 30–37. http://dx.doi.org/10.31992/0321-4443-2021-5-30-37.
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The movement of wheeled vehicles on soils and grounds leads to a change in their density. The research includes the influence of mass and its distribution along the axes of the wheels on the change in the density of soils and grounds. The substantiation of analytical dependencies for determining the density of compacted and flowing soils and soils from repeated impacts of wheels under various loads is given. The dependence for determining the density of the soil in the general case, including compressed and fluid components of the state of the soil and soil mass, was substantiated.
The experimental laboratory studies were carried out on the effect of wheels on the soil and the effect of wheel load on soil compaction. The dependences were obtained to determine the compaction of soil with different physical and mechanical properties under different loading modes of the running systems. It was found that the distribution of the mass of a wheeled vehicle along the axles of the wheels affects the depth of the track and the compaction of the soil. The obtained dependences for describing the process of soil compaction are consistent with the results of experiments. It was found that with an increase in the number of axles of the running system, soil compaction decreases. The minimum track depth and soil compaction are observed when the mass of the wheeled vehicle is evenly distributed along the axes of the chassis. With an increase in the number of axles, the influence of the ratio of the pressure of the first wheel to the average pressure on soil compaction decreases due to a decrease in the differential pressure of the wheels that occurs in multi-axle wheel systems. With slight deviations from the unit of the ratio of the front wheel load to the average value of the pressure, the increase in soil density is not perceptible. As the front-to-middle load ratio increases, soil compaction increases significantly compared to an even weight distribution along the axles.
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Xu, Haijun, Liyang Xu, Yikun Feng, Xiaojun Xu, Yue Jiang, and Xue Gao. "Influence of a walking mechanism on the hydrodynamic performance of a high-speed wheeled amphibious vehicle." Mechanical Sciences 14, no. 2 (July 18, 2023): 277–92. http://dx.doi.org/10.5194/ms-14-277-2023.
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Abstract. In order to reduce the resistance and increase speed for a high-speed wheeled amphibious vehicle, a wheel-retracting mechanism was applied to a walking mechanism and the influence was researched. Firstly, to obtain a reliable numerical method, a realizable shear stress transport (SST) k-ω turbulence model and computational fluid dynamic (CFD) model built by an overset mesh technique was used and compared with the corresponding model tests. Secondly, the effect of the wheels' flip angle on resistance, heave and pitch was investigated. Then, the wheel well was optimized by numerical simulation. Finally, the results showed that the influence of the wheels on resistance was more significant, and the larger the wheels' flip angle was, the more significant the resistance reduction would be. An optimized wheel well was beneficial to resistance reduction. Furthermore, the running attitude became steadier, thereby decreasing the heave and pitch.
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Laubach, V. P., V. V. Gerashchenko, and N. A. Kovalenko. "The device for automatic locking of inter-wheel differential of wheeled tractor." Traktory i sel hozmashiny 84, no. 7 (July 15, 2017): 3–7. http://dx.doi.org/10.17816/0321-4443-66306.
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The efficient operation of the wheeled tractor is largely determined by such operating property as permeability. To increase it, the automatic interlock differential locking systems are used, which block it only when the wheeled tractor turns, and in case of rectilinear motion the differential is in the unlocked state. This reduces the permeability of the wheeled tractor in severe road conditions with its rectilinear movement. The authors propose an automatic device for locking and unlocking an inter-wheel differential operating on the basis of a generalized information parameter-the difference in the frequencies of rotation of the driving wheels of one axis when the tractor moves both in straight run and during turning. It consists of a device switch, a clutch with friction discs to lock the differential; Hydraulic actuation of its operation, consisting of a tank, a pump, a reducing valve, an electromagnetic two-position spool with a winding; two speed sensors of the first and second driving wheels; adder with two inputs and an output, inputs connected to the first and second speed sensors; amplifier output connected to the coil of the spool. When it reaches the set difference of speeds of the wheels of the drive axle is generated a control voltage which is amplified and fed to the winding spool. Moving, it ensures the inclusion of the differential lock. When the difference in the rotational speeds of the driving wheels is reduced to zero, the inter-wheel differential is automatically unlocked. The use of the developed device for automatic control of interlocking and unlocking of the inter-wheel differential, in comparison with the known, provides increased permeability of the wheeled tractor.
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Liu, Yi Bo, Wei Liu, Xia Huang, and Hai Peng Zhang. "Research on High Performance Vitrified Bond Diamond Wheel." Advanced Materials Research 497 (April 2012): 83–88. http://dx.doi.org/10.4028/www.scientific.net/amr.497.83.
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Two kinds of vitrified bonds, bond L (low temperature bond) and bond G (high strength bond), were blended by ball-milling in producing diamond wheels. Proper Sintering techniques were employed by analyzing properties of the wheel through DSC testing and fracture strength. The wheels were applied in machining PDC in comparison with similar product on market. It showed that the blended bond reached its highest fracture strength when bond L amount was about 20wt~24wt%; combination of this two kinds of vitrified bonds would improve the wheel’s comprehensive properties by raising its fracture strength to 89MPa when bond L takes up 22wt%; service life of wheels prepared by this blended bond was 30~50% longer than similar market product and efficiency improved by more than 20%.
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Sun, Zhang Jun, Jing Long Yan, Chao Quan Li, Yue Ju Li, and Chao Di. "Design and Simulation of a Variable Structure Mobile Robot." Applied Mechanics and Materials 457-458 (October 2013): 672–76. http://dx.doi.org/10.4028/www.scientific.net/amm.457-458.672.
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Combined with the advantages of good protection of global robot, self-equilibrium, easy control of wheeled robot and strong obstacle surmounting ability of turbofan robot, a variable structure mobile robot which has three kinds of basic modalities of global, turbofan and three-wheel is designed. The balancing leg is retracted and the two polymorphic wheels of the robot are closed into a sphere while in the global state, and it could be conveniently threw, carried and make all directional movements on the flat grounds. When confronted with the complicated terrain environments of sand, slopes etc., the two polymorphic wheels will be outspread to the turbofan state, and the balancing leg will be opened out as a third supporting wheel so as to strengthen the ability to adapt to the environment. When the two polymorphic wheels are expanded into two wheels, the robot motions are more smoothly and easily to be controlled. A virtual prototype of the robot is designed by three-dimensional technology, as well as the motion simulation. Rationality of the mechanism design scheme of the variable structure mobile robot is verified.
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Cui, Dabin, Boyang An, Paul Allen, Ruichen Wang, Ping Wang, Zefeng Wen, and Li Li. "Effect of the turning characteristics of underfloor wheel lathes on the evolution of wheel polygonisation." Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 233, no. 5 (October 10, 2018): 479–88. http://dx.doi.org/10.1177/0954409718795760.
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During both running and wheel cut operations, wheels of railway vehicles and the friction rollers that support and drive the wheelset on a typical wheel cut lathe are subject to wear and hence are likely to develop out-of-round characteristics after sustained use. The resulting out-of-round wheels can significantly affect the ride quality and can potentially increase the incidence of fatigue-related component failures due to the resulting higher intensity loading cycles. Furthermore, the corresponding out-of-round characteristics of the lathe's friction rollers will continue to degrade the subsequent cut quality of wheels. For the analysis of the out-of-round characteristics caused by an underfloor wheel lathe used for the high-speed trains in China, a mathematical model based on a typical electric multiple unit (EMU) vehicle's wheelsets and their interactions with the wheel lathe friction rollers was established. Factors influencing the cut quality of the wheels, including the number of cuts, eccentricity forms of the friction rollers and the longitudinal spacing of the two rollers, have been analysed. The results show that two cuts can effectively remove the higher order polygon on the wheel surface. The eccentricity and phase angle of the friction rollers have no influence on the cut quality of higher order polygons, whereas they are the primary cause for the fourth-order polygons. The severity of the fourth-order polygon depends on the level and the phase of the eccentricity of the friction rollers. The space of the two rollers can also significantly affect the cut quality. Obtaining the theoretical and practical value for the maintenance of polygonised wheels using the underfloor lathe is the main outcome of this study.
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Xue, A. S., Y. X. Zhao, and B. Yang. "Interference Fit Design Assessment and Improvement for the Railway Wagon Wheelset with 30 Ton Axle Weigh." Advanced Materials Research 658 (January 2013): 318–22. http://dx.doi.org/10.4028/www.scientific.net/amr.658.318.
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Design reliability is analyzed for the interference fits of the railway wagon wheelset with 30 ton axle weigh. Aim focus on eliminating fretting fatigue damage of the wheelset. An extreme wheelset loads set is deduced by which can yields the thermal mechanical loads on the wheel same to the code AAR S 660. Integrated wheelset model of finite element method is applied to calculate the stresses on the fits to consider the physical fit relationship of wheelset, in which the rail pieces, wheels, axle, bearings, and adapters are fitted together by contact phases. It is revealed that the fits are all in the press stress states for the original design. But the stresses seem smaller than the least reasonable value for the reliable fits between wheels-axle. An improvement suggestion is provided to rise the fit scale to 0.23 mm equal to 0.01 percentage of the wheel-hub hole diameter. Calculation results verify that the press stresses have been controlled in the reasonable range.
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Kwon, Seok-Jin, Jung-Won Seo, Min-Soo Kim, and Young-Sam Ham. "Applicability Evaluation of Surface and Sub-Surface Defects for Railway Wheel Material Using Induced Alternating Current Potential Drops." Sensors 22, no. 24 (December 18, 2022): 9981. http://dx.doi.org/10.3390/s22249981.
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The majority of catastrophic wheelset failures are caused by surface opening fatigue cracks in either the wheel tread or wheel inner. Since failures in railway wheelsets can cause disasters, regular inspections to check for defects in wheels and axles are mandatory. Currently, ultrasonic testing, acoustic emissions, and the eddy current testing method are regularly used to check railway wheelsets in service. Yet, in many cases, despite surface and subsurface defects of the railroad wheels developing, the defects are not clearly detected by the conventional non-destructive inspection system. In the present study, a new technique was applied to the detection of surface and subsurface defects in railway wheel material. The results indicate that the technique can detect surface and subsurface defects of railway wheel specimens using the distribution of the alternating current (AC) electromagnetic field. In the wheelset cases presented, surface cracks with depths of 0.5 mm could be detected using this method.
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Rubies, Elena, and Jordi Palacín. "Design and FDM/FFF Implementation of a Compact Omnidirectional Wheel for a Mobile Robot and Assessment of ABS and PLA Printing Materials." Robotics 9, no. 2 (May 28, 2020): 43. http://dx.doi.org/10.3390/robotics9020043.
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This paper proposes the design and 3D printing of a compact omnidirectional wheel optimized to create a small series of three-wheeled omnidirectional mobile robots. The omnidirectional wheel proposed is based on the use of free-rotating passive wheels aligned transversally to the center of the main wheel and with a constant separation gap. This paper compares a three inner-passive wheels design based on mass-produced parts and 3D printed elements. The inner passive wheel that better combines weight, cost, and friction is implemented with a metallic ball bearing fitted inside a 3D printed U-grooved ring that holds a soft toric joint. The proposed design has been implemented using acrylonitrile butadiene styrene (ABS) and tough polylactic acid (PLA) as 3D printing materials in order to empirically compare the deformation of the weakest parts of the mechanical design. The conclusion is that the most critical parts of the omnidirectional wheel are less prone to deformation and show better mechanical properties if they are printed horizontally (with the axes that hold the passive wheels oriented parallel to the build surface), with an infill density of 100% and using tough PLA rather than ABS as a 3D printing material.
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Rosenblat, Grigory, Vladimir Tishkin, and Vladimir Yashin. "Model of Carriage Movement on Plane with Dry Friction Forces." International Journal of Online and Biomedical Engineering (iJOE) 16, no. 08 (July 17, 2020): 85. http://dx.doi.org/10.3991/ijoe.v16i07.14551.
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Wheel slip model is an important aspect of vehicle driving stability and safety control. However, in most of the carriage movement models friction forces and wheel slip effect are being neglected. This paper raises the problem of wheel slip in dangerous driving and autonomous vehicles under critical driving modes, then tasks the modeling of movement of an individual vehicle is considered. These are two tasks of nonholonomic mechanics: 1) the movement of a wheelset without wheel slip (two disks freely mounted on an axis) along an inclined plane in the field of gravity, and 2) the movement of a flat wheel model, which, under certain assumptions, can be a four-wheeled carriage. In these tasks, in addition to the standard dynamics (continuous motion without wheel slip), critical situations can also be observed associated with wheel sleep and separation of wheels from plane.
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Balabin, Igor Venediktovich, and Oleg Igorievich Balabin. "THEORETICAL ANALYSIS OF AXIAL AND RADIAL FORCES DURING WHEEL MOVEMENT ON A SITE WITH A TRANSVERSE SLOPE." Chronos 7, no. 11(73) (December 13, 2022): 101–3. http://dx.doi.org/10.52013/2658-7556-73-11-28.
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The article considers the case of movement of one of the wheels of the axis of a wheeled vehicle on a platform having a transverse slope. When driving over irregularities on wheels, an axial force may occur, the magnitude of which increases with the increase in the angle of inclination of the platform. In this case, a characteristic circumstance is an increase in the axial force on the wheel with a decrease in the coefficient of friction.
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Mikhailov, Evgeny, Stanislav Semenov, Hanna Shvornikova, Juraj Gerlici, Maxim Kovtanets, Ján Dižo, Miroslav Blatnický, and Jozef Harušinec. "A Study of Improving Running Safety of a Railway Wagon with an Independently Rotating Wheel’s Flange." Symmetry 13, no. 10 (October 17, 2021): 1955. http://dx.doi.org/10.3390/sym13101955.
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The main objective of this work is to study the possibilities of improving the running safety of a railway wagon with independently rotating wheels by changing their design symmetrically mounted on an axle. The article provides a discussion of the advantages and disadvantages of using the independently rotating wheels in a bogie of railway wagons. Their increasing tendency of derailment is described. The influence of a perspective constructive scheme (PKS) of railway wagon wheels in comparison with a traditional constructive scheme (TKS) on running safety due to the climbing of a wheel flange onto a rail is studied. This work introduces a conceptual proposition of a technical solution to railway wheel design as well as containing the results of both analytical calculations as well as the results of multibody simulations. A PKS wheel design for a railway wheel is designed that allows independent rotation of its tread surface and of a guiding surface (i.e., of a flange) to each other, which both are arranged symmetrically on a wheelset axle. It brings features of the distribution of friction forces generating in a flange contact when the wheel with a TKS and with PKS move on a rail. It is possible to conclude with the help of the obtained results that the use of wheels with the PKS is advisable for the reduction of the running resistance as well as for increasing the running safety of railway wagons.
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Nielsen, J. C. O., and A. Johansson. "Out-of-round railway wheels-a literature survey." Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 214, no. 2 (March 1, 2000): 79–91. http://dx.doi.org/10.1243/0954409001531351.
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This literature survey discusses the state-of-the-art in research on why out-of-round railway wheels are developed and on the damage they cause to track and vehicle components. Although the term out-of-round wheels can be attributed to a large spectrum of different wheel defects, the focus here is on out-of-round wheels with long wavelengths, such as the so-called polygonalization with 1-5 harmonics (wavelengths) around the wheel circumference. Topics dealt with in the survey include experimental detection of wheel/rail impact loads, mathematical models to predict the development and consequences of out-of-round wheels, criteria for removal of out-of-round wheels and suggestions on how to reduce the development of out-of-round wheels.
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Haga, Toshio, Masanari Daishi, Hisaki Watari, and Shinichi Nishida. "Thin Wire Casting Using Twin Wheel Caster Equipped with Horizontal Wheels." Materials Science Forum 1066 (July 13, 2022): 19–25. http://dx.doi.org/10.4028/p-y78gtx.
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solidification, process shortening and energy saving. A twin-wheel caster equipped with two additional horizontal wheels was proposed to cast thin aluminum alloy wire at higher speed. In the proposed twin-wheel caster, a groove was machined on the lower wheel. Two small horizontal wheels were positioned between the molten-metal-pouring launder and the upper wheel to assist the solidification of poured molten metal and to prevent burr formation. The alignment of the horizontal wheel sensitively affected the occurrence of wire defects. An Al-1.2%Fe wire with a cross section of 6.2 mm2 was cast at 15 m/min. Thinner wires without burring could be cast at a speed higher than that of the twin-wheel caster without the horizontal wheels. The surface condition of the as-cast wire cast by the twin-wheel caster equipped with horizontal wheels was worse than that of the casting using the twin-wheel caster without horizontal wheels.
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Wong, J. Y., and V. M. Asnani. "Study of the correlation between the performances of lunar vehicle wheels predicted by the Nepean wheeled vehicle performance model and test data." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 222, no. 11 (November 1, 2008): 1939–54. http://dx.doi.org/10.1243/09544070jauto811.
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This paper describes the results of a study of the correlation between the performances of wheels for lunar vehicles predicted using the Nepean wheeled vehicle performance model (NWVPM), developed under the auspices of Vehicle Systems Development Corporation, Ottawa, Canada, and the corresponding test data presented in ‘Performance evaluation of wheels for lunar vehicles’, Technical Report M-70-2, prepared for George C. Marshall Space Flight Center, National Aeronautics and Space Administration (NASA), USA, by the US Army Engineer Waterways Experiment Station (WES). The NWVPM was originally developed for design and performance evaluation of terrestrial off-road wheeled vehicles. The purpose of this study is to assess the potential of the NWVPM for evaluating wheel candidates for the new generation of extra-terrestrial vehicles. Two versions of a wire-mesh wheel and a hoop-spring wheel, which were considered as candidates for lunar roving vehicles for the NASA Apollo program in the late 1960s, together with a pneumatic wheel were examined in this study. The tractive performances of these wheels and of a 4×4 test vehicle with the pneumatic wheels on air-dry sand were predicted using the NWVPM and compared with the corresponding test data obtained under Earth's gravity and previously documented in the above-named report. While test data on wheel or vehicle performances obtained under Earth's gravity may not necessarily be representative of those on extra-terrestrial bodies, because of the differences in gravity and in environmental conditions, such as atmospheric pressure, it is still a valid approach to use test data obtained under Earth's gravity to evaluate the predictive capability of the NWVPM and its potential applications to predicting wheel or wheeled rover performances on extra-terrestrial bodies. Results of this study show that, using the ratio ( P20/ W) of the drawbar pull to normal load at 20 per cent slip as a performance indicator, there is a reasonable correlation between the predictions and experimental data. This indicates that the NWVPM has the potential as an engineering tool for evaluating wheel candidates for a future generation of extra-terrestrial vehicles, provided that appropriate input data are available.
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Mishra, Swati, Mukesh Sharma, and Santhakumar Mohan. "Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels." Defence Science Journal 69, no. 4 (July 15, 2019): 353–60. http://dx.doi.org/10.14429/dsj.69.13607.
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This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolerance limit defined while some does not even use pseudo inverse since using the system becomes under-actuated and their wheel alignment and configurations greatly influenced the performance.
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Darji, Bhavin Sanjay, Shubham Viju Dhodi, Shashank Suni Jadhav, Ibrahim Akram Khan, and M. A. Gulbarga. "Craby Steering System." International Journal for Research in Applied Science and Engineering Technology 10, no. 4 (April 30, 2022): 2618–28. http://dx.doi.org/10.22214/ijraset.2022.41851.
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Abstract: In present the car steering system is 2 wheel steering system and in conventional steering system there are only two wheels are moving while taking the turn , either forward two or the rear two wheels . While in 4 wheel steering system the rear and front both wheels are act +ive and can guide in steering. Here we using MARUTI-800 car as a reference model. We have developed a optimized 4 wheel steering system for implementation of mechanism that can give the work in changing in-phase and counter-phase steering of rear wheels depending upon the condition of turning and lane changing with respect to front wheels, thus enhancing the manoeuvrability of as edan in accordance with its speed. Keywords: 4 Wheel steering system, octa steering, craby steering mechanism, steering system
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Rasidi Rasani, Mohammad, Azhari Shamsudeen, Zambri Harun, and Wan Mohd Faizal Wan Mahmood. "A Computational Aerodynamic Study of Tandem Rotating Wheels in Contact with the Ground." International Journal of Engineering & Technology 7, no. 3.17 (August 1, 2018): 133. http://dx.doi.org/10.14419/ijet.v7i3.17.16637.
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Wheels have significant impact on noise and drag of road vehicles, which may influence their fuel consumption, emission and comfort. A number of studies have analyzed flow and aerodynamics of isolated wheel in contact with the ground, but limited attention has been given to interaction between wheels. The present study aims to compare the aerodynamics and flow structure between single and tandem wheels. To that end, flow around single and tandem wheels are simulated using a turbulence Scaled Adaptive Unsteady Reynolds Average Navier Stokes (URANS) model. Wheel geometry was based on the actual wheel used in the experiments of Fackrell and Harvey. Flow around single and tandem wheels were examined and compared, along with their respective drag and lift coefficients. Results for single wheel in contact with the ground show good agreement with previous experiments. In the tandem wheel case, the rear wheel exhibits lower drag coefficient (CD = 0.37) and more downforce (lift coefficient CL = -0.14) compared to the front wheel. The present investigation may help to illustrate impact of wheel interaction on their aerodynamics.
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Okada, Tokuji, Abeer Mahmoud, Wagner Tanaka Botelho, and Toshimi Shimizu. "Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels." Robotica 30, no. 1 (May 6, 2011): 123–32. http://dx.doi.org/10.1017/s026357471100035x.
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SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work expression to determine the robot's motion complying with driven wheels. The model also enables us to estimate trajectories for different ground conditions. A hybrid robot, PEOPLER-II, is used to demonstrate the predicted motions, including turns and spins, by following angular velocity control rules. Experimental data verifies that the proposed formulation and minimisation of virtual work are valid techniques for predicting a robot's trajectory. The method described is widely applicable to wheeled robots having independently driven wheels.
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Bruzzone, Luca, Pietro Fanghella, and Giuseppe Quaglia. "Experimental Performance Assessment of Mantis 2, Hybrid Leg-Wheel Mobile Robot." International Journal of Automation Technology 11, no. 3 (April 28, 2017): 396–403. http://dx.doi.org/10.20965/ijat.2017.p0396.
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Mantis 2 is a small-scale leg-wheel ground mobile robot, designed for exploration, surveillance and inspection tasks in unstructured environments. It is equipped with two actuated front wheels, two passive rear wheels, and two rotating legs with praying Mantis profile, specially conceived for step and obstacle climbing. Locomotion is purely wheeled on regular surfaces, with high energetic efficiency and maneuverability, and with stable camera vision. In case of obstacles or terrain irregularities, the rotating legs increase the motion capability. The main innovation of the second version is the introduction of passive one-way auxiliary wheels on each leg, which improve the efficacy of step climbing. The paper discusses analytical and experimental results on step ascent and descent and locomotion on irregular surfaces.
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Kalchenko, Volodymyr, Vitalіі Kalchenko, Antonina Kolohoida, Olga Kalchenko, and Dmytro Kalchenko. "Building a model of the process of shaping tapered calibrating areas of wheels at the two-sided grinding of round ends." Eastern-European Journal of Enterprise Technologies 2, no. 1 (116) (April 28, 2022): 62–70. http://dx.doi.org/10.15587/1729-4061.2022.253660.
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This paper reports the spatial modeling of the dressing process of grinding wheels with a conical calibration area to enable two-sided end grinding of cylindrical parts. Components with cylindrical end surfaces are common in the industry, for example, bearing rollers, crosses, piston fingers, and others. High requirements are put forward for the accuracy and quality of the end surfaces. The most efficient is to machine them simultaneously on a double-sided face grinding machine. To improve the quality, grinding is carried out by oriented wheels. The wheel’s angle of rotation in the vertical plane is chosen subject to the uniform distribution of the allowance along a working surface; this makes it possible to reduce the temperature in the cutting zone and improve machining conditions. To improve the accuracy, grinding wheels are provided with a conical calibration area whose rectilinear generatrix is in the plane passing through the axis of wheel rotation and is perpendicular to the end of the part. The minimum permissible length of the calibration area depends on the diameter of the parts being machined; that makes it possible to utilize the work surface more efficiently. Two wheels are dressed simultaneously using diamond pencils that are symmetrically installed in a part feed drum. The angular velocity when dressing the rough area of the wheel is constant, which ensures its different development, and it gradually decreases when dressing the calibration area to provide for its constant roughness. In general, this prolongs the resource of grinding wheels and the quality of machining. The wheels are given axial movement to ensure the straightness of the cone calibration area. The dressing technique reported here can be used on machines equipped with a numerical software control system and without it. It could also be applied in the machining of parts with non-round ends
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Hutangkabodee, Suksun, Yahya Zweiri, Lakmal Seneviratne, and Kaspar Althoefer. "Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction." International Journal of Advanced Robotic Systems 5, no. 4 (November 1, 2008): 35. http://dx.doi.org/10.5772/6225.
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This paper considers wheeled vehicles traversing unknown terrain, and proposes an approach for identifying the unknown soil parameters required for vehicle driving force prediction (drawbar pull prediction). The predicted drawbar pull can potentially be employed for traversability prediction, traction control, and trajectory following which, in turn, improve overall performance of off-road wheeled vehicles. The proposed algorithm uses an approximated form of the wheel-terrain interaction model and the Generalized Newton Raphson method to identify terrain parameters in real-time. With few measurements of wheel slip, i, vehicle sinkage, z, and drawbar pull, DP, samples, the algorithm is capable of identifying all the soil parameters required to predict vehicle driving forces over an entire range of wheel slip. The algorithm is validated with experimental data from a wheel-terrain interaction test rig. The identified soil parameters are used to predict the drawbar pull with good accuracy. The technique presented in this paper can be applied to any vehicle with rigid wheels or deformable wheels with relatively high inflation pressure, to predict driving forces in unknown environments.