Electric rotary actuator sizing applied to wheeled skid-steer vehicles

The problem of optimum actuator sizing has been addressed as a crucial decision making methodology and applied to skid-steer vehicles with electric in-wheel actuators. The vehicle tyre/ground forces have been obtained using genetic algorithms. Finally, the optimum region of vehicle operation is given for the specified requirements. The method suggested does not require explicit knowledge of the electric actuator parameters. It is possible to determine the optimum actuator ratings and the dynamic characteristics that will result, prior, to vehicle construction, so resulting in reduced development time and cost. To validate the method the technique has been applied to a real vehicle, PROMETHEUS II, with optimised actuators