Considering a four wheel skid steering heavy robot of one ton, I need to know the minimum torque needed to rotate itself from standstill.
Are the calculous very easy or there is a paper that is exhaustively focused on this issue?
In my opinion, the wheels torque should be greater than (i.e. win) the static friction considering that all four wheels are not rotating. Indeed the robot should move normal to its longitudinal axe which in our case coincides with the longitudinal axes of the wheels.
Other than the impact of an agricultural environment on the static friction, what is the impact of the wheel orientation?
What is the impact of the center of gravity in case it does not coincide with the center of area?
Thank you very much
Stefano
Dear Stefano Leonori,
I suggest you to see links on topic.
https://link.springer.com/chapter/10.1007/978-3-030-47035-7_20
https://www.chegg.com/homework-help/questions-and-answers/coupling-machine-design-question-11-follow-questions-12-13-reference-solved-problems-uploa-q35787177
https://sbir.nasa.gov/solicit/61545/detail?data=ch9
https://journals.sagepub.com/doi/full/10.1177/1729881419839596
https://patents.google.com/patent/US20110106339A1/en
Best regards
Stefano Leonori
Take a look:
1. Article Analysis and Experimental Kinematics of a Skid-Steering Whee...
2. Article A modular agricultural robotic system (MARS) for precision f...
When rotating in place the skid-steer locomotion schema has an significant slip angle, thus I think the classic Coulomb friction model shouldn't apply, in other words, the elasticity of the tyre and the size of the contact patch may influence the motion, rather than the simple friction coefficient between tyre and soil. "Theory of ground vehicles" by J. Y. Wong could probably help you, namely subchapter 1.4 and chapter 2.
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