Paper Title:
Dynamics Modeling and Simulation of a Six-Wheel All-Terrain Mobile Robot Based on ADAMS
  Abstract

A novel structure of a six-wheel all-terrain mobile robot with the integration of active and passive control is presented in this paper. According to different complex terrain environments, three-dimensional simulation models of the six-wheel all-terrain mobile robot were built using ADAMS software and the dynamic simulation analyses under different terrain conditions were accomplished. Using the ADAMS model, the kinematic and dynamic characteristics curves of the whole robot and parts of robot were obtained. The simulation analyses provide the theoretical basis for the optimization of the mechanical structure, control system design and the selection of drive motors. Simulation results show that the structure of this kind of robot has good mobility and obstacle-climbing performance.

  Info
Periodical
Chapter
Chapter 2: Simulation and Engineering Optimization
Edited by
Di Zheng, Yiqiang Wang, Yi-Min Deng, Aibing Yu and Weihua Li
Pages
516-520
DOI
10.4028/www.scientific.net/AMM.101-102.516
Citation
Y. J. Li, F. D. Wang, Z. H. Kou, "Dynamics Modeling and Simulation of a Six-Wheel All-Terrain Mobile Robot Based on ADAMS", Applied Mechanics and Materials, Vols. 101-102, pp. 516-520, 2012
Online since
September 2011
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Price
$32.00
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