ESTIMATING THE LATERAL FORCES THAT IMPACT ON THE WHEELS OF A TRANSPORT ROBOTIC SYSTEM

A method for calculating the wheels lateral forces is proposed to analyze ways to increase the speed of the robotic system without wheel slippage appearance, The analysis of lateral forces allows to synthesize a rational algorithm for distributing the load between drives. In addition, it is proposed to use a vector space to represent kinematic energy, which simplify simulation of the instant center of rotation movements and simplify control system development. The first part of the article is devoted to finding the relationship between the summary lateral force and the drives traction forces; the changing the distance to the instant center of rotation; the lateral movement of the instant center of rotation and the current speed of the entire system. The listed relationships are found through kinematic constraints and the energy conservation law. The second part is devoted to the evaluation of the lateral force acting on each wheel. Thus, the value of the reduced reaction force and the quasi-static model of an elastic wheel are used. Examples of using the proposed method are shown: a comparison of the maximum possible speeds of motion without slippage for different distribution of moments between drives and for different arrangement of drive wheels in the system is carried out.