Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
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http://hdl.handle.net/2183/28057
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Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force DistributionFecha
2016-06Cita bibliográfica
B. Ghotbi, F. González, J. Kövecses, J. Angeles, Mobility evaluation of wheeled robots on soft terrain: Effect of internal force distribution, Mechanism and Machine Theory, 100:259-282 (2016). https://doi.org/10.1016/j.mechmachtheory.2016.02.005
Resumen
[Abstract]
Many applications of wheeled robots include operations in unstructured environments. Optimizing vehicle mobility is of key importance in these cases. Reduced mobility can limit the ability of the robot to achieve the mission goals and can even render it immobile in extreme cases. In this paper, some aspects of the effect of the wheel–ground interaction force distribution on mobility are investigated. A performance index based on the normal force distribution is used to compare different design layouts and vehicle configurations. The validity of this index was assessed using both multibody dynamics simulation and experimental results obtained with a six-wheeled rover prototype. Results confirmed that modifying the system configuration and employing active suspensions to alter the normal force distribution can lead to an increase of traction force available at the wheel–terrain interfaces, thus improving rover mobility. Finally, the study was extended to consider the change of soil properties during operation due to the multipass effect. Optimum load distributions were obtained as the solution of a constrained maximization problem.
Palabras clave
Wheeled mobile robots
Soft terrain
Load distribution
Multipass effect
Robots móviles con ruedas
Terreno blando
Distribución de cargas
Effecto de paso múltiple de rueda
Soft terrain
Load distribution
Multipass effect
Robots móviles con ruedas
Terreno blando
Distribución de cargas
Effecto de paso múltiple de rueda
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Derechos
Atribución-NoComercial-SinDerivadas 3.0 España
ISSN
0094-114X