Estimation of Parameters of Rectilinear Rolling of Wheeled Propulsion Device over Rigid Supporting Surface

A technique for estimating the parameters of rectilinear rolling of an elastic wheeled propulsion device over the rigid supporting surface is presented, which takes into account the distribution of normal and tangential stresses over the contact spot, the wheel axis displacement in the horizontal and verticalplanes with respect to the contact center. The models of forming the normal and tangential stresses, the resistance to rolling and the thrust are offered.