Determination of the Kinematic Excitation Originating from the Irregular Envelope of an Omnidirectional Wheel

This paper describes a test stand for determining the kinematic excitation originating from the contact between a vehicle’s wheel and the ground, thus acting on the single suspension upright of the vehicle. This excitation is unique to the movement of omnidirectional wheels and originates from the irregular envelope of the wheel. The presented attitude enables the vertical displacement of the wheel’s axis rolling on a horizontal surface to be determined. This work includes experimental results considering different wheel orientations against the direction of movement.