Abstract When the oil supply is not adequate to maintain ideal lubrication, angular contact ball bearing will enter into starved lubrication regime resulting in potential performance degradation and consequently severe failures. To study effects of on bearing, this paper first proposes a multi-degree-of-freedom (DOF) tribo-dynamic model by introducing five-DOF inner ring, six-DOF balls, cage. T...

The Articulated Wheeled Vehicle (AWV) paradigm examines a class of wheeled vehicles where the chassis is connected via articulated chains to a set of ground-contact wheels. Activelyor passivelycontrolled articulations can help alter wheel placement with respect to chassis during locomotion, endowing the vehicle with significant reconfigurability and redundancy. The ensuing ‘leg-wheeled’ systems...

The Articulated Wheeled Vehicle (AWV) paradigm examines a class of wheeled vehicles where the chassis is connected via articulated chains to a set of ground-contact wheels. Activelyor passivelycontrolled articulations can help alter wheel placement with respect to chassis during locomotion, endowing the vehicle with significant reconfigurability and redundancy. The ensuing ‘leg-wheeled’ systems...

This paper highlights the need for a new power model skid-steered wheeled robots driving on loose soil, and lays groundwork to develop such model. State-of-the-art modeling assumes hard ground; under typical assumptions, this predicts constant consumption over range of small turning radii where inner wheels rotate backwards. However, experimental results performed both in field controlled labor...