Longitudinal Stability of Wheeled Mobile Robots - Permissible Forces and Accelerations

The paper investigates the longitudinal stability of a wheeled mobile robot depending on the size of its wheel base and the size of its mass. D’ Alembert's principle is used for the calculations. The results represent the limit traction/braking force and limit acceleration/deceleration, at a given wheel base length for a given mass, before the robot loses stability.