Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
Use este enlace para citar
http://hdl.handle.net/2183/28057
A non ser que se indique outra cousa, a licenza do ítem descríbese como Atribución-NoComercial-SinDerivadas 3.0 España
Coleccións
- LIM - Artigos [52]
Metadatos
Mostrar o rexistro completo do ítemTítulo
Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force DistributionData
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
Resumo
[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 chave
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
Versión do editor
Dereitos
Atribución-NoComercial-SinDerivadas 3.0 España
ISSN
0094-114X