Kinematics Modeling of a Highly Stable Space Rover
Publish place: The 8th Conference of Iranian Aerospace Society
Publish Year: 1388
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
AEROSPACE08_366
تاریخ نمایه سازی: 5 شهریور 1388
Abstract:
In this paper, the general kinematics model of a proposed Articulated Terrain Rover (ATR) is developed. This rover has been designed for traversing on rough terrain and posses a highly stable structure on the terrain with the adapting articulated chassis on the terrain. Furthermore, this rover has the capability of changing the position of the total system center of mass with respect to the main moving body. The number of required actuators can be decreased compared to the previous systems, as well. Besides, considering motion on an uneven terrain with general 6DOF motion, the developed model considers the longitudinal and lateral slope of a 3D terrain in the each wheel contacts. After introducing the proposed mechanical structure, differential kinematics is derived for each wheel that is in contact with the terrain. The resulting equations of wheel motions are then combined altogether to form the equations for the rover motion. Then, the kinematic constraints are found by using geometrical and physical concepts. Moreover, the steering angles of front wheels are determined by using car-like mobile robot steering approach for 3-D motion.
Authors
S. Ali. A. Moosavian
Associated Professor. Dept. of Mech. Eng. -K. N. Toosi Univ. of Technology - Tehran
Ali Rezvanifar
Graduate Student, Dept. of Mech. Eng. -K. N. Toosi Univ. of Technology - Tehran (corresponding author)