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Keywords: force
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. January 2011, 6(1): 011007.
Published Online: October 4, 2010
.... It is shown using the linear IRW equations that since a constant forward speed is assumed for IRW, the longitudinal slip can occur due to the change in the wheel rolling radius. This leads to longitudinal creep forces even in the case of IRW and it contributes to a coupling of the lateral, yaw, and pitch...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. January 2009, 4(1): 011002.
Published Online: November 11, 2008
... force models, and a formulation of a direct dynamic model developed with a Lagrangian approach is performed. Furthermore, tensor representation is used to condense and simplify the calculation of Lagrangian partial derivatives. The results are compared with a numerical model that implements...