Title :
Structure design and kinematics analysis of moving system for a wheel-tracked exploration vehicle
Author :
Weiyan, Shang ; Shunming, Li ; Jianghui, Xin ; Juanli, Zheng
Author_Institution :
Coll. of Energy & Power Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing
Abstract :
Exploration vehicle is required to run independently to perform the tasks. In order to improve the ability of obstacle surmounting, a new type of wheel-tracked moving system applied on exploration vehicles was presented. And a new method to analyze the kinematics relationships between the tracks and the bodywork were also presented. Then the kinematics model of the exploration vehicle was built and its kinematics equations were deduced. The velocity Jacobin matrices about the bodywork and the wheels were established, and the Least Squares Method was used to compute the bodyworkpsilas velocity and estimate the position and orientation of the exploration vehicle, which can provide references to the navigation and control system. At last, virtual prototyping technology was used to simulate the kinematics characteristics of the exploration vehicle, and at the same time its adaptability and capability of obstacle surmounting was validated.
Keywords :
collision avoidance; mobile robots; vehicle dynamics; kinematics analysis; moving system; obstacle surmounting; structure design; velocity Jacobin matrices; virtual prototyping; wheel-tracked exploration vehicle; Control systems; Equations; Jacobian matrices; Kinematics; Least squares methods; Navigation; Vehicles; Velocity control; Virtual prototyping; Wheels; Exploration vehicle; Kinematics equations; Moving system; Simulation; Wheel-tracked;
Conference_Titel :
Vehicle Power and Propulsion Conference, 2008. VPPC '08. IEEE
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-1848-0
Electronic_ISBN :
978-1-4244-1849-7
DOI :
10.1109/VPPC.2008.4677530