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