An operational scrutinization of autonomous tractor-trailer robot considering motion resistance force of rubber tracked undercarriage

Abstract

In realm of researches involved in autonomous tractor-trailer robot, novel purpose of this research has been dedicated to motion resistance force of rubber tracked undercarriage of the robot. Hence, the motion resistance force was ascertained as affected by operational variables of robot forward speed (0.17, 0.33 and 0.5 m/s) and payload weight (1, 2, 3, 4 and 5 kN). Analytical results clarified that meaningful contribution of payload weight to the motion resistance force (15.26–28.05 N) was marginal (< 8 times) in comparison with that of robot forward speed. Hence, adjustment of the forward speed than payload weight is suggested as priority. Modeling results described that combinatorial effect of robot forward speed and payload weight on the motion resistance force was synergetic. This disclosed linear increasing dependency of the motion resistance force on concurrent proliferation of robot forward speed and payload weight. Overall, these results are profitable for redesign and performance optimization of tractor-trailer robot with rubber tracked undercarriage in order to proliferate autonomous transportation capacity of payloads, especially for indoor and outdoor shipping and warehouse of factories and industrial environments.