Table 2 TWRM parameters description [24]
Terminology | Description | Value | Unit |
|---|---|---|---|
θ | Tilt angle of the intermediate body around the vertical Z-axis | – | ° |
δ R , δ L | Angular displacement of right and left wheels | – | m |
h1, h2 | Vertical and horizontal linear link displacement | – | m |
F1, F2 | Force generated by the vertical and horizontal linear actuators | – | N |
τ R , τ L | Right and left wheels torque | – | N/m |
m 1 | Mass of the chassis | 3.1 | kg |
m 2 | Mass of the linear actuators | 0.6 | kg |
m w | Mass of wheel | 0.14 | kg |
R | Wheel radius | 0.05 | m |
J 1 | Chassis moment of inertia | 0.068 | kg m2 |
J 2 | Moving mass moment of inertia | 0.0093 | kg m2 |
J w | Wheel moment of inertia | 0.000175 | kg m2 |
Ɩ | Distance of chassis’ center of mass for wheel axle | 0.14 | m |
µ 1 | Coefficient of friction of vertical linear actuator | 0.3 | Ns/m |
µ 2 | Coefficient of friction of horizontal linear actuator | 0.3 | Ns/m |
µ w | Coefficient of friction between wheel and ground | 0 | Ns/m |
µ c | Coefficient of friction between chassis and wheel | 0.1 | Ns/m |
g | Gravitational acceleration | 9.81 | m/s2 |