A kinematic model of the rover has been prepared, which enables to compute the chassis speeds relative to the rate of change of wheel articulation angle. Since the wheel articulation angle in the x direction can be sensed, by shaft mounted encoder, using rolling and zero slip assumptions it' s possible to know the rover chassis velocity with respect to the ground. This data can be used as a feedback, to adjust the angular position of the wheel linkage over a terrain to stabilize the sensing platform of the rover. The feedback can be given to a motion sensor mounted on the sensor platform like an inertial rate gyro. The dynamic analysis provides a configuration, which gives highest traction over the tallest obstacle. It is also observed that this design must be optimized to fit the payload bay of the delivering spacecraft along with its terrain adaptive performance. The traction is related to the normal force by the coefficient of friction. In this design the terrain adaptable mechanism is so developed as to impart a greater normal force and thus to increase the ground traction. It is observed from the plots, that for a given spring coefficient, as the obstacle angle increases the traction force increases due to the inherent nature of the design to deflect spring more as the degree of obstacle negotiation increases. Also it is seen that each wheel imparts a normal force which is dependent on how steep a terrain it is negotiating.
Design and kinematic analysis of terrain adapting wheeled robotic vehicle for planetary exploration
2001
5 Seiten, 5 Bilder, 20 Quellen
Aufsatz (Konferenz)
Englisch
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