Concept of chassis dynamometer for wheeled mobile robots

The paper describes problems in powertrain testing of mobile wheeled robots. It shows a brief review of powertrain design of mobile robots and explains the need for testing in aspect of energy management and traction parameters. In this work the availability of technical data of powertrain components in context of mechanical efficiency and energy loss is discussed. According to this discussion the need for testing is explained and analysis of testing method is shown. Further the proposed design of mobile robot chassis dynamometer is presented. Finally the conception of control system in context of such parameters as structure, control tasks, communication, HMI design and modes of operation is described.