Experimental Evaluation of the Pitch Angle Righting Capabilities of a High Speed Terrestrial Vehicle in Ballistic Phase
| Periodical | Applied Mechanics and Materials (Volume 162) |
|---|---|
| Main Theme | Mechanisms, Mechanical Transmissions and Robotics |
| Edited by | Grigore Gogu, Inocentiu Maniu, Erwin-Christian Lovasz, Jean-Christophe Fauroux and Valentin Ciupe |
| Pages | 57-66 |
| DOI | 10.4028/www.scientific.net/AMM.162.57 |
| Citation | Marc Davis et al., 2012, Applied Mechanics and Materials, 162, 57 |
| Online since | March, 2012 |
| Authors | Marc Davis, Philippe Vaslin, Jean Christophe Fauroux, Christophe Gouinaud, Liang Ju |
| Keywords | Angular Momentum, High Speed Ballistic Robot, Moment of Inertia, Pitch Angle |
| Price | US$ 28,- |
We present a study of the feasibility of controlling the pitch angle of a high velocity ground vehicle in ballistic phase by accelerating or decelerating its wheels. The vehicle performed several jumps, and various wheel acceleration commands were sent to it while it was airborne. Images were recorded using a high-speed video camera, and the trajectories of markers placed on the vehicle were analyzed in order to measure the relationship between the changes in angular velocities of the chassis and the wheels. It appeared that it was possible to achieve pitch righting through the modification of the angular velocities of the wheels with adequate performance, thus opening the road towards automated control of pitch, then later yaw and roll angles.
