In difficult terrain, actively coordinated vehicle systems offer significant potential for enhanced mobility and improved system performance. The configuration of an actively actuated wheeled vehicle system on uneven terrain is greatly affected by the local terrain geometry. Since issues such as vehicle stability, coordination, and control are affected by the configuration the locomotion sysstem assumes on the terrain, it is important to study the position kinematics of actively actuated wheeled vehicles. Here a multi-module articulated wheeled vehicle configuration operating on uneven terrain has been considered. The kinematic mobility of this configuration on uneven terrain has been studied and the displacement analysis of the resulting hybrid series-parallel chain has been performed. Polynomial equations that represent the constrained motion of the vehicle on the terrain have been obtained. It has been shown that the configuration of the first module of the articulated chain can be obtained by solving a polynomial system whose overall degree is eight and the configuration of each of the subsequent modules of the articulated chain can be obtained by solving a polynomial system whose overall degree is thirty two. It has also been shown that, in general, the first module has eight distinct geometric configurations, and for each configuration of a preceding module, a subsequent module, in general, has sixteen distinct configurations. Finally, geometric reasoning has been used to identify the particular configuration that represents the 'correct' vehicle geometry on the terrain.
Displacement analysis of an articulated wheeled vehicle configuration on uneven terrain
Verschiebungsanalyse eines Fahrzeugs mit gelenkig aufgehängten Rädern auf unebenem Terrain
1994
10 Seiten, 7 Bilder, 2 Tabellen, 22 Quellen
Conference paper
English
Fahrzeug , Fahrgestell , Radaufhängung , aktives Bauelement , Unplanheit , Stabilität , Kinematik , Polynom , Regelung
Kinematics of wheeled mobile robots on uneven terrain
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