Skip to main content

Table 2 Parameters and description

From: A two-wheeled machine with a handling mechanism in two different directions

Parameter Description Value Unit
\( m_{1} \) Mass of the chassis 3.1 kg
\( m_{2} \) Mass of the linear actuators 0.6 kg
\( m_{\rm w} \) Mass of wheel 0.14 kg
\( g \) Gravitational acceleration 9.81 m/s2
\( l \) Distance of chassis’s centre of mass for wheel axle 0.14 m
\( R \) Wheel radius 0.05 m
\( J_{1} \) Rotation inertia of 0.068 kg m2
\( J_{2} \) Rotation inertia of 0.0093 kg m2
\( J_{\rm w} \) Rotation inertia of a wheel 0.000175 kg m2
\( \mu_{c} \) Coefficient of friction between chassis and wheel 0.1 Ns/m
\( \mu_{\rm w} \) Coefficient of friction between wheel and ground 0 Ns/m
\( \mu_{1} \) Coefficient of friction of vertical linear actuator 0.3 Ns/m
\( \mu_{2} \) Coefficient of friction of horizontal linear actuator 0.3 Ns/m