Susceptibility Modeling of a Rubber Track for Lightweight Mobile Robots

Abstract

The elastic-damping properties of the rubber track structure can have a significant impact on the running gear performance of lightweight mobile robots. Taking these properties into account is particularly important for modeling obstacle negotiation and estimating the robot’s driving force. The article presents track susceptibility identification using both static and dynamic tests. The experimental results were used to validate the multi-body dynamics model of the rubber track for three modeling methods and for three track link number model variants. The methods and variants were compared by the accuracy of the susceptibility parameters obtained using them. The impact of the modeling methods on the track bending resistance simulations was also checked.