Mechanical Analysis Of Mass Drifts Due To Accelerations And Decelerations Of Mobile Platforms

In the mobile platforms such as legged platforms and wheeled platforms, there is a mass drift due to the acceleration and deceleration. This mass drift induces a rotating pitch angle based on an axis of mass center. In the mobile platforms, if the front or rear driving axis such as wheels and legs axis does not contact with the terrain, then the driving power does not contribute to get the traction forces with the low efficiency. Further, if the mass drifts and induced pitch angles are bigger than a certain threshold value, then there is the pitch-over phenomenon with the mechanical damages to mobile platforms. In order to reduce the mass drifts of mobile platform, in this paper, we describe mechanical analysis of mass drifts due to the acceleration and deceleration of mobile platforms. Firstly, we describe the analysis of mass drift amounts due to acceleration and deceleration. Then, we propose the design guides of mobile platform for reducing the mass drift amounts.