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/s^{2} |
\( l \) | 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 m^{2} |
\( J_{2} \) | Rotation inertia of | 0.0093 | kg m^{2} |
\( J_{\rm w} \) | Rotation inertia of a wheel | 0.000175 | kg m^{2} |
\( \mu_{c} \) | 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 |