Dynamics Model of the Mobile Platform for its Various Configurations

Description of the dynamics of the four-wheeled mobile platform has been proposed in the paper. Proposition of different configurations of load with consideration of distribution of load to each wheel of the mobile platform is presented. The prototype model is useful to examine different configurations of the drive wheels and to analyse the relations between causes and effects of the motion parameters. The problem of the forced motion of the platform, with the possibility to modify the drive modulus positions, has been considered. The various configurations of the driven wheels, which has significant influence for both the position of the center of mass and the distribution of load acting on the wheels, is presented in the work. The formulated initial problem has been solved numerically with use of the Runge-Kutta method of the fourth order. The analysis of several sample results for the different positions of center of mass has been conducted and the conclusions are also included.