DocumentCode
1784316
Title
Dynamic analysis of an angular swivel steering mechanism with applications to step climbing
Author
Salem, Wael ; Shammas, Elie ; Asmar, Daniel ; Bazzi, Samer
Author_Institution
Dept. of Mech. Eng., American Univ. of Beirut, Beirut, Lebanon
fYear
2014
fDate
8-11 July 2014
Firstpage
984
Lastpage
989
Abstract
In this paper, we introduce a novel mobile robotic platform that is capable of navigating rough terrains. The proposed design utilizes an active angular swivel steering mechanism to perform wide-range steering as well as obstacle climbing. We extend the previously conducted kinematic analysis and develop dynamic models of the proposed platform to showcase its locomotive capabilities. Finally, we introduce a simple step-climbing path planning method.
Keywords
mobile robots; path planning; robot dynamics; robot kinematics; steering systems; angular swivel steering mechanism; dynamic analysis; kinematic analysis; locomotive capabilities; mobile robotic platform; obstacle climbing; rough terrain navigation; simple step-climbing path planning method; step climbing; wide-range steering; Equations; Joints; Mathematical model; Mobile communication; Mobile robots; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location
Besacon
Type
conf
DOI
10.1109/AIM.2014.6878208
Filename
6878208
Link To Document