Kinematics modeling and analysis of a five-wheeled rover with caster and camber

Authors:
He Xu;Zhenyu Zhang
Affiliations:
College of Mechanic and Electric Engineering, Harbin Engineering University, Harbin, P.R. China;College of Mechanic and Electric Engineering, Harbin Engineering University, Harbin, P.R. China
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
Year:
2010

Citing 2
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Guest Editorial: Agricultural Robotics

Autonomous Robots
Kinematics Modeling and Analyses of Articulated Rovers

IEEE Transactions on Robotics

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Abstract

Because of articulated all terrain rovers (ATR) have adaptivity of rough terrain, they are playing increasingly important role in many areas. Based on a castered-and-cambered 5-wheel-steering and 5-wheel-driving (5WS-5WD) ATR prototype, its kinematics model is derived for full 6 Degree of Freedom (DOF) motion, in this process, the influence of wheel-terrain contact including contact angle and slippage are taken into account. The kinematical impact of caster and camber is elaborated.