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The efficiency of a skid-steer, all-wheel drive, multiple-axle vehicle with a hydrostatic drivetrain equipped with low-speed motors when it operates on soft terrain was studied. A flow divider enables a single pump to simultaneously power more than one motor circuit with different pressures in each. It prevents kinematic discrepancy and improves vehicle mobility. There are two types of flow divider: spool type and gear type, where each type has its own set of performance characteristics, such as flow range, pressure drop, accuracy and application parameters. In the present work, the influence of the characteristics of both types of flow divider on overall vehicle driveline efficacy is described.
Mirosław Przybysz; Marian Łopatka; Marcin Małek; Arkadiusz Rubiec. Influence of Flow Divider on Overall Efficiency of a Hydrostatic Drivetrain of a Skid-Steer All-Wheel Drive Multiple-Axle Vehicle. Energies 2021, 14, 3560 .
AMA StyleMirosław Przybysz, Marian Łopatka, Marcin Małek, Arkadiusz Rubiec. Influence of Flow Divider on Overall Efficiency of a Hydrostatic Drivetrain of a Skid-Steer All-Wheel Drive Multiple-Axle Vehicle. Energies. 2021; 14 (12):3560.
Chicago/Turabian StyleMirosław Przybysz; Marian Łopatka; Marcin Małek; Arkadiusz Rubiec. 2021. "Influence of Flow Divider on Overall Efficiency of a Hydrostatic Drivetrain of a Skid-Steer All-Wheel Drive Multiple-Axle Vehicle." Energies 14, no. 12: 3560.
Heavy-wheeled vehicles with articulated hydraulic steering systems are widely used in construction, road building, forestry, and agriculture, as transport units and tool-carriers because they have many unique advantages that are not available in car steering systems, based on the Ackermann principle, such as—high cross-country mobility, excellent maneuverability, and high payload and lift capacity, due to heavy axles components. One problem that limits their speed of operation and use efficiency is that they have poor directional stability. During straight movement, articulated tractors’ deviate from a straight line and permanent driver correction is required. This limits the vehicles’ speed and productivity. In this study, we describe a driver-aid system concept that would improve the directional stability of articulated vehicles. Designing such a system demands a comprehensive knowledge of the reasons for the snaking phenomenon and driver behaviors. The results of our articulated vehicle directional stability investigation are presented. On this basis, we developed models of articulated vehicles with hydraulic steering systems and driver interaction. We next added the stabilizing system to the model. A simulation demonstrated the possibility of directional stability improvement.
Marian J. Łopatka; Arkadiusz Rubiec. Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System. Applied Sciences 2020, 10, 5747 .
AMA StyleMarian J. Łopatka, Arkadiusz Rubiec. Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System. Applied Sciences. 2020; 10 (17):5747.
Chicago/Turabian StyleMarian J. Łopatka; Arkadiusz Rubiec. 2020. "Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System." Applied Sciences 10, no. 17: 5747.
The article presents the concept of a high mobility wheelchair with a hydrostatic drive system .It presents existing solutions of manually driven wheelchair and external powered solutions. It was proposed original drive system, suspension system and turning system unheard in wheelchairs. It was analyzed the distribution of required components. On this basis there was created dynamic model. It was subjected to tests determining the driver's comfort and the load on the structure. The strength analysis of the proposed structure was carried out. As the result, it was created an innovative concept of the high mobility wheelchair capable to moving everywhere where other people can do.
Karol Cieślik; Marian Janusz Łopatka; Arkadiusz Rubiec; Kacper Spadło. Concept of high mobility wheelchair with hydrostatic drive system. AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 2018, 19, 827 -830.
AMA StyleKarol Cieślik, Marian Janusz Łopatka, Arkadiusz Rubiec, Kacper Spadło. Concept of high mobility wheelchair with hydrostatic drive system. AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe. 2018; 19 (6):827-830.
Chicago/Turabian StyleKarol Cieślik; Marian Janusz Łopatka; Arkadiusz Rubiec; Kacper Spadło. 2018. "Concept of high mobility wheelchair with hydrostatic drive system." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 19, no. 6: 827-830.
This paper presents issues of hydrostatic drivetrains applied in slow-moving transport terrain vehicles. Short description of such a vehicles was described. Next efficiency of hydrostatic drivetrains and main factors which has influence on its efficiency was discussed. It was characterized two types of hydraulic components efficiency: volumetric and hydro-mechanic. They have detrimental effect on power loses in hydrostatic drivetrains. In final part of the paper efficiency of few hydraulic motors in the same load conditions was compare.
Karol Kończalski; Marian J. Łopatka; Mirosław Przybysz; Arkadiusz Rubiec. Hydrostatic drivetrains efficiency of slow-moving terrain vehicles. AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 2018, 19, 876 -880.
AMA StyleKarol Kończalski, Marian J. Łopatka, Mirosław Przybysz, Arkadiusz Rubiec. Hydrostatic drivetrains efficiency of slow-moving terrain vehicles. AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe. 2018; 19 (6):876-880.
Chicago/Turabian StyleKarol Kończalski; Marian J. Łopatka; Mirosław Przybysz; Arkadiusz Rubiec. 2018. "Hydrostatic drivetrains efficiency of slow-moving terrain vehicles." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 19, no. 6: 876-880.
This paper presents research results of cameras vibrations influence on efficiency of teleoperated Unmanned Ground Vehicle (UGV) use. Research was being made on special prepared terrain test stand, which has been fully described in this article. Based on results it has been made proposal for UGVs suspension systems evaluation criteria. It has been specified four levels of suspension systems efficiency. This criteria enable developed suspension systems of teleoperated UGVs correctly.
Agnieszka Dabrowska; Miroslaw B. Jaskolowski; Arkadiusz Rubiec. Cameras vibrations influence on efficiency of teleoperated Unmanned Ground Vehicle. 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR) 2016, 772 -777.
AMA StyleAgnieszka Dabrowska, Miroslaw B. Jaskolowski, Arkadiusz Rubiec. Cameras vibrations influence on efficiency of teleoperated Unmanned Ground Vehicle. 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR). 2016; ():772-777.
Chicago/Turabian StyleAgnieszka Dabrowska; Miroslaw B. Jaskolowski; Arkadiusz Rubiec. 2016. "Cameras vibrations influence on efficiency of teleoperated Unmanned Ground Vehicle." 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR) , no. : 772-777.
Arkadiusz Rubiec. ExMot - uniwersalne podwozie ekstremalnej mobilności dla Bezzałogowych Platform Lądowych. MATERIAŁY BUDOWLANE 2015, 1, 236 -238.
AMA StyleArkadiusz Rubiec. ExMot - uniwersalne podwozie ekstremalnej mobilności dla Bezzałogowych Platform Lądowych. MATERIAŁY BUDOWLANE. 2015; 1 (11):236-238.
Chicago/Turabian StyleArkadiusz Rubiec. 2015. "ExMot - uniwersalne podwozie ekstremalnej mobilności dla Bezzałogowych Platform Lądowych." MATERIAŁY BUDOWLANE 1, no. 11: 236-238.
More often Unmanned Ground Vehicles (UGV) support or replace human in dangerous tasks performing. Usually this operations are realizing in hard conditions in rough terrain. UGVs effectively use determines its ability to obstacle negotiating, to reach high adhesion force, drawbar pull and extra longitudinal and lateral stability of UGV. Variety missions determining of use in UGVs reconfigurable and control suspension system. It is able to meet this requirement thanks to use hydropneumatic components in them suspension system. However currently it is very hard to developed characteristic of such a suspension systems. In literature there is no clear guidelines for suspension systems of teleoperated UGVs. This paper presents results of hydropneumatic suspension system research on heavy UGV.
Adam Bartnicki; Tomasz Muszyński; Arkadiusz Rubiec. Hydropneumatic Suspension Efficiency in Terms of Teleoperated UGV Research. Solid State Phenomena 2015, 237, 195 -200.
AMA StyleAdam Bartnicki, Tomasz Muszyński, Arkadiusz Rubiec. Hydropneumatic Suspension Efficiency in Terms of Teleoperated UGV Research. Solid State Phenomena. 2015; 237 ():195-200.
Chicago/Turabian StyleAdam Bartnicki; Tomasz Muszyński; Arkadiusz Rubiec. 2015. "Hydropneumatic Suspension Efficiency in Terms of Teleoperated UGV Research." Solid State Phenomena 237, no. : 195-200.
The paper describes the wheeled rescue robot FRR drawn up by a team of Engineering Machines and Robots at Military University of Technology. It also shows a brief description of predicted for implementation tasks by FRR and probable problems that might occur and should be solved. Next the paper describes the method and the model which served to simulation evaluation of rigidity for robots suspension system. Describing the simulation model, used simplified assumptions and the method of calculating the basic parameters for model were described. The following chapter presents simulation that the model was tested through and some model results of the test. In the final phase of the article the conclusion and discussion is presented.
Adam Bartnicki; Marian Janusz Łopatka; Tomasz Muszyński; Arkadiusz Rubiec. Stiffness Evaluation of Fire Rescue Robot Suspension with Hydropneumatic Components. Solid State Phenomena 2013, 210, 301 -308.
AMA StyleAdam Bartnicki, Marian Janusz Łopatka, Tomasz Muszyński, Arkadiusz Rubiec. Stiffness Evaluation of Fire Rescue Robot Suspension with Hydropneumatic Components. Solid State Phenomena. 2013; 210 ():301-308.
Chicago/Turabian StyleAdam Bartnicki; Marian Janusz Łopatka; Tomasz Muszyński; Arkadiusz Rubiec. 2013. "Stiffness Evaluation of Fire Rescue Robot Suspension with Hydropneumatic Components." Solid State Phenomena 210, no. : 301-308.
Currently led military operations (Iraq and Afganistan) have shown that one of the biggest threats for vehicles moving in convoys are Improvised Explosive Devices. On the basis of experiments, it was found that there are not such structures which are completely resistant to explosion. The paper describes the concept for arms of suspension system with specially reduced construction node which undergo a controlled destruction at the time of detonation. Designing the target elements requires tests in order to determine the service load for suspension system..
Marian Janusz Łopatka; Tomasz Muszyński; Arkadiusz Rubiec; Piotr Sprawka. Preliminary Simulations of High Mobility IED Resistance Suspension with Casting Arms. Solid State Phenomena 2013, 210, 115 -121.
AMA StyleMarian Janusz Łopatka, Tomasz Muszyński, Arkadiusz Rubiec, Piotr Sprawka. Preliminary Simulations of High Mobility IED Resistance Suspension with Casting Arms. Solid State Phenomena. 2013; 210 ():115-121.
Chicago/Turabian StyleMarian Janusz Łopatka; Tomasz Muszyński; Arkadiusz Rubiec; Piotr Sprawka. 2013. "Preliminary Simulations of High Mobility IED Resistance Suspension with Casting Arms." Solid State Phenomena 210, no. : 115-121.
Unmanned ground platforms are increasingly used to perform tasks under direct threat to the operators life and health. Separating an operator from a controlled machine places high demands to its steering system. The requirement of reliability put to such platforms in terms of potential threats makes their steering systems being very precise controlled and tested at the stage of construction. The key element in the steering process of unmanned ground platforms are surroundings display systems which determine the success of conducting rescue operations. This paper presents an unmanned ground platform controlled by remote operator and describes some of the functionality tests of the remote control system. Keywords: Robot, Remote Control, Vision System, Teleoperation
Adam Bartnicki; Piotr Sprawka; Arkadiusz Rubiec. Remote Control System for Rescue Robot. Solid State Phenomena 2013, 210, 294 -300.
AMA StyleAdam Bartnicki, Piotr Sprawka, Arkadiusz Rubiec. Remote Control System for Rescue Robot. Solid State Phenomena. 2013; 210 ():294-300.
Chicago/Turabian StyleAdam Bartnicki; Piotr Sprawka; Arkadiusz Rubiec. 2013. "Remote Control System for Rescue Robot." Solid State Phenomena 210, no. : 294-300.
This paper presents the results of 3 tons skid steer 6×6 wheel robot drive system field tests. The aim of the investigation was verification of assumed data for drive train design and forces identification in the drivetrain system during maneuvering and crossing obstacles. Robot has hydraulics drive system with motors in the wheels and hydraulic suspension system. The needed drive torque on wheels was determined by pressure measuring on motors.
Marian Janusz Lopatka; Tomasz Muszynski; Arkadiusz Rubiec. Loads analysis of skid steer robot drive system. 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR) 2013, 362 -367.
AMA StyleMarian Janusz Lopatka, Tomasz Muszynski, Arkadiusz Rubiec. Loads analysis of skid steer robot drive system. 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR). 2013; ():362-367.
Chicago/Turabian StyleMarian Janusz Lopatka; Tomasz Muszynski; Arkadiusz Rubiec. 2013. "Loads analysis of skid steer robot drive system." 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR) , no. : 362-367.
This paper describes FRR wheeled rescue robot which being developed in Robots & Engineering Equipment Team of Military University of Technology. There have been presented also short description of planned to performing by Fire Rescue Robot FRR tasks and caused by them problems to solve. Next have been described the method and model enable to carry out simulation which are necessary to robot suspension system loads identification. Describing developed simulation model, have been presented main used simplification assumptions and method used to calculate main model parameters. The nest paper sections describe the tests which has been subjected to model and examples of their results. In the final part of the paper is a conclusion and discussion of the results of research.
Marian Janusz Lopatka; Tomasz Muszynski; Arkadiusz Rubiec. Simulation identification of Fire Rescue Robot suspension loads. 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR) 2013, 408 -413.
AMA StyleMarian Janusz Lopatka, Tomasz Muszynski, Arkadiusz Rubiec. Simulation identification of Fire Rescue Robot suspension loads. 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR). 2013; ():408-413.
Chicago/Turabian StyleMarian Janusz Lopatka; Tomasz Muszynski; Arkadiusz Rubiec. 2013. "Simulation identification of Fire Rescue Robot suspension loads." 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR) , no. : 408-413.