Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1715773 | Acta Astronautica | 2010 | 15 Pages |
Abstract
In this paper we present two mechanisms of linear force actuator based actively articulated suspension vehicles and propose a strategy to control the wheel-ground contact forces to improve traction and to increase the no-slip margin and hence enhance the mobility of the vehicle on uneven terrain. We present the quasi-static analysis of each of the mechanisms to depict the ability of the systems to control the wheel-ground contact forces while negotiating uneven terrain with the help of feasibility plots. The first model is a vehicle with a 1-dof leg (referred to as LFA-V1) and can climb slopes upto 40 degrees but to further increase the capability of the robot we come with a modified design of the vehicle which has a 2-dof leg (referred to as LFA-V2) and can negotiate slopes with discontinuities greater than twice the wheel diameter.
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Authors
Vijay P. Eathakota, Arun K. Singh, K. Madhava Krishna,