DocumentCode
382864
Title
Modelling and simulation of multibody mobile robot for volcanic environment explorations
Author
Lacagnina, Michele ; Muscato, Giovanni ; Guccione, S. ; Sinatra, Rosario
Author_Institution
D.I.I.M., Catania Univ., Italy
Volume
1
fYear
2002
fDate
2002
Firstpage
714
Abstract
This paper presents a dynamics analysis of a mobile robot, named M6, developed for volcanic environment exploration. The architecture of this kind of robot has six wheels which are coupled to the chassis by means of revolute joints. The robot is built by the DEES of Catania University. A multibody model of the system was constructed in a calculation code. Particular attention was given to the choice of tyre model to simulate the real tyre-road contact. A comparison of the simulation and experimental results confirmed the good agreement between the model and the real system.
Keywords
geophysical equipment; mesh generation; mobile robots; robot dynamics; simulation; Catania University; M6; dynamics; finite element mesh; multibody model; tyre model; tyre-road contact; volcanic environment exploration; wheeled mobile robot; Earth; Extraterrestrial measurements; Mobile robots; Phase measurement; Sea measurements; Sea surface; Testing; Tires; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1041475
Filename
1041475
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