Design of an Outdoor Mobile Platform for Friction Measurement on Street Surfaces

verfasst von

H. Blume, Bodo Heimann, M. Lindner

Abstract

The measurement of friction coefficients between rubber compounds and street surfaces is limited by the necessity for complex measuring systems, which are not available in the field. In this paper the design of a mobile measuring platform for measuring the friction coefficient between a rubber testing wheel and the street surface is presented. The integration of a measuring device into a mobile robot enables laboratory precision measurements on outdoor street surfaces. The 3-wheel robotic platform consists of two driven back wheel modules and a non-driven but steered front wheel module carrying the measuring device, batteries for power supply, and an on-board computer with the real-time operating system RTOS-UH. Control algorithms for the wheel modules and the measuring device are implemented in the on-board computer while communication is taken via CAN bus. The system is operated by a WINDOWS notebook as user interface connected through TCP/IP protocol via radio LAN enabling partially autonomous operation. In order to measure the friction coefficient, the rubber testing wheel is pressed onto the street surface applying a predefined contact force in a closed loop control and it is driven to provide constant sliding velocity. The friction coefficient is computed as the ratio of the measured friction force and the actual contact force.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

65-68

Anzahl der Seiten

4

Publikationsdatum

2002

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja