A THREE-WHEELED MOBILE ROBOT FOR TRAVERSING UNEVEN TERRAIN WITHOUT SLIP: SIMULATION AND EXPERIMENTS

被引：9
|
作者：
Tharakeshwar, Appala [2 ]
Ghosal, Ashitava [1 ]
机构：
[1] Indian Inst Sci, Dept Mech Engn, Bangalore 560012, Karnataka, India
[2] Indian Inst Sci, Ctr Prod Design & Mfg, Bangalore 560012, Karnataka, India
来源：
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES | 2013年 / 41卷 / 01期
关键词：
Slip free motion; Two-degree of freedom suspension; Uneven terrain; Wheel lateral tilt;
D O I：
10.1080/15397734.2012.703606
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
A wheeled mobile robot (WMR) can move on uneven terrains without slip if the wheels are allowed to tilt laterally. This paper deals with the analysis, design and experimentations with a WMR where the wheels can tilt laterally. The wheels of such a WMR must be equipped with two degrees of freedom suspension mechanism. A prototype three-wheeled mobile robot is fabricated with a two degree-of-freedom suspension mechanism. Simulations show that the three-wheeled mobile robot can traverse uneven terrains with very little slip and experiments with the prototype on a representative uneven terrain confirm that the slip is significantly reduced.
引用
收藏
页码：60 / 78
页数：19
相关论文
共 50 条
12345