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An effective approach for dynamic analysis of rovers

Meghdari, A ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574705001712
  3. Publisher: 2005
  4. Abstract:
  5. In this paper a novel approach to dynamic formulation of rovers has been presented. The complexity of these multi-body systems especially on rough terrain, challenged us to use the Kane's method which has been preferred to others in these cases. As an example, symbolic equations of a six-wheeled rover, named CEDRA Rescue Robot which uses a shrimp like mechanism, have been derived and a simulation of forward and inverse dynamics has been presented. Due to the clear form of equations, each term defines a physical meaning which represents the effect of each parameter, resulting in a frame-work for performance comparison of rovers. Although the method has been described for a 2-D non-slipping case, it is also very useful for dimensional and dynamical optimization, high speed motion analysis, and checking various control algorithms. Furthermore, it can be extended to 3-D cases and other complicated mechanisms and rovers while conserving its inherent benefits and adding to the ease of handling nonholonomic constraints. © 2005 Cambridge University Press
  6. Keywords:
  7. Algorithms ; Computational complexity ; Constraint theory ; Optimization ; Dynamic analysis ; Kane's method ; Nonholonomic constraints ; Rovers ; Robotics
  8. Source: Robotica ; Volume 23, Issue 6 , 2005 , Pages 771-780 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/abs/an-effective-approach-for-dynamic-analysis-of-rovers/CDFCA67B12D953D64E31331960976305