Advantages of Anisotropic Wheels in Skid Steer Turns

Abstract

Research Article of the wheel longitudinally. • R X = The distance from the center of the vehicle to the middle of the wheel laterally. • R = The distance from the center of the vehicle to the center of the wheel. • ω = The wheel spin rate in radians/second. • F Y = The total net force in the longitudinal direction on one wheel. • F X = The total net force in the lateral direction on one wheel. • F y = The traction force in the longitudinal direction on one wheel. • F x = The traction force in the lateral direction on one wheel. • f y = The frictional force in the longitudinal direction on one wheel. • f x = The frictional force in the lateral direction on one wheel. • Q = The angle that the front wheel is placed off of the center of the vehicle. Skid steering is an unintuitive method from lateral sliding that must take place for a skid steer vehicle to turn steering due to the multiple forces. When a skid steered vehicle initiates a turn, its rotation in the (X – Y) plane will accelerate up due to a certain spin rate Ω Figure 1. In this point it will stabilize and the total moment about its center (M o) will equal zero and the resistive moment M friction will cancel out the moment induced by the motors (M motor). M friction consists of the frictional forces due to sliding, offset Y on . M f riction = ∑ F X R Y = ∑ SF X R . (1) M motor – M friction = Mo=0 . (2) ∑ (F y R (θ)) − ∑ (F x R (θ)) = 0 . (3) F y = x tan (θ) . (4) Abstract Wheels are the conventional mode of locomotion , especially for planetary exploration robots . These missions require long distances on limited power over discontinuous terrain . These requirements make the wheel a major component contributing to performance . Any enhancement that can be made to a wheel will enhance the total vehicle ' s performance in that area . One area of interest is skid steer turning , which is a simple practical approach to vehicle design . A disadvantage (angle unit of energy) in turning due to the necessary sliding of the wheel in the . This and a way to increase efficiency by decreasing the lateral frictional force in relation to longitudinal frictional force . The concept is then tested using an anisotropic wheel that illustrates this behavior .