This article introduces passive wheels as the new localization system for automated guided vehicles (AGVs). The article focuses on investigating the accuracy of the proposed system and comparing with other widely used solutions: rotary encoders coupled with drive wheels, AHRS and LiDAR scanner. The fusion of dead reckoning and inertial data is acquired by the implementation of the Kalman filter. On the other hand, the fusion of LiDAR data depends on application of the AMCL or the graph-based algorithm. The study was conducted on five different scenarios, designed to investigate the influence of specific types of movements on the performance of tested localization methods. Results indicate, that passive wheels dead reckoning outperforms drive wheels dead reckoning in most scenarios, minimizing errors due to reduced both longitudal and lateral slippages, which appear during AGV accelerating, decelerating and turning. AHRS integration improves accuracy, especially in scenarios involving significant amount of angular motion. LiDAR-based methods in short term show mediocre results, due to relatively high, but steady values of error. The study highlights the importance of the map's quality for LiDAR-based techniques and points up the conditions, under which the LiDAR-based techniques do not operate very well. In conclusion, the research provides insights into the strengths and weaknesses of various AGV localization techniques in various movement scenarios, emphasizing the impact of sensor choice and path-shape conditions on accuracy.

The paper presents the theoretical bases, design and the principle of operation of two-stage precession type transmission with face meshing. Description and the principle of forming the face meshing which is modified by the original method have been shown as well. Dimensional relations between particular components of the gears are established and the analysis of optimal gear ratio, depending on the number of teeth or magnets on the circumferences of meshing gear wheels is also provided in the paper. For further analysis four prototypes of mechanical precession transmission with face meshing were designed, built and investigated. Those prototypes present different sizes, reduction ratio and precession angle. Investigations, described in the paper, helped to determine the gear efficiency rate as well as the maximal torque that could be transferred for the given rotary speed. This paper presents also the conception of the design of a novel double stage precession magnetic gear with face neodymium magnets. The results of the initial studies are the background of the further research in the field of magnetic precession type transmission.

The eccentric rolling transmission consists of rolling bearings mounted eccentrically on the input shaft, cooperating with cam wheels, which are mounted on the output shaft. The aim of this paper was to determine the sensitivity of the transmission to the manufacturing errors of the cam wheel....

The paper shows an idea of a new type of mechanical gear — the eccentric rolling transmission. The main parts of that transmission are rolling bearings, mounted eccentrically on the input shaft which cooperate with the special-shaped cam wheels mounted on the output shaft. The number of rolling bearings is equal to the number of cam wheels. On the basis of kinematic analysis equations of the curve which describe a shape of cam wheels were determined for two different cases: in the first one the directions of shafts rotations were opposite, and in the second they were the same. Kinematic analysis of the novel transmission was carried out to determine maximum gear ratio depending on the adopted input parameters. As a result of analyses a design procedure of the eccentric rolling transmission and CAD model were prepared.

The aim of this paper is to assess the performance parameters of the cam-type pulse Continuously Variable Transmission, which is a first attempt to investigate this issue in the presented manner. The transmission under investigation comprises two cams in cooperation with two units, each...