Estimation of some parameters of mobile parts of integrated virtual prototype of mobile uniaxial (single-axis) robot in extreme situations

In this paper a mathematical model of the integrated virtual prototype of mobile robot’s wheel climbing on a rectangular ledge is developed. Estimation of overload depending on the speed of the robot collision on an obstacle is made. An algorithm based on the elastic contact theory of Hertz that allows to choose the dimensions of cylindrical ball bearings in which no plastic deformation occur at the contact points is proposed.