An effective approach for dynamic analysis of rovers

  • Authors:

  • A. Meghdari;R. Karimi;H. N. Pishkenari;A. L. Gaskarimahalle;S. H. Mahboobi

  • Affiliations:

  • Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology (Iran);Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology (Iran);Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology (Iran);Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology (Iran);Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology (Iran)

  • Venue:
  • Robotica
  • Year:
  • 2005

Quantified Score

Hi-index 0.00

Visualization

Abstract

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.