The dynamics of a mobile vehicle with three omni wheels is considered for the case when the vehicle moves on a fixed perfectly rough plane by inertia. In order to study the effect of wheel roller inertia on the stability of the rectilinear motion of the vehicle, the fore wheel is modeled by the following rigid bodies: a wheel disk and a supporting roller such that the roller does not slip with respect to the plane. The rear wheels are modeled by disks slipping without friction in the direction perpendicular to their planes (an inertialess model of an omni wheel). We propose some dynamic equations of motion of the vehicle in the form of Tatarinov’s laconic equations for systems with differential constraints. These equations are related to the dynamic equations obtained for a vehicle with three inertialess omni wheels. The stability of rectilinear motions is analyzed.

中文翻译：

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考虑轮滑惯性的整车直线运动的稳定性

当车辆通过惯性在固定的完全粗糙平面上行驶时，考虑了具有三个全向轮的移动车辆的动力学特性。为了研究车轮滚子惯性对车辆直线运动稳定性的影响，前轮由以下刚体建模：车轮盘和支撑滚子，以使滚子相对于车轮不打滑。飞机。后轮的建模是通过在垂直于其平面的方向上无摩擦地滑动的盘（全向轮的无惯性模型）来进行的。我们针对具有微分约束的系统，以塔塔里诺夫（Tatarinov）的简单方程形式提出了一些车辆运动的动力学方程。这些方程与为具有三个无惯性全向轮的车辆获得的动力学方程有关。