Loads analysis of skid steer robot drive system

This paper presents the results of 3 tons skid steer 6×6 wheel robot drive system field tests. The aim of the investigation was verification of assumed data for drivetrain design and forces identification in the drivetrain system during maneuvering and crossing obstacles. Robot has hydraulics drive system with motors in the wheels and hydraulic suspension system. The needed drive torque on wheels was determined by pressure measuring on motors.