Research on the Yaw of 2 DOF Articulated Vehicle Obstacle Negotiation

Abstract:

This paper derives the kinematic equations of 2 DOF articulated vehicle based on D-H method. When unilateral wheels of the articulated vehicle surmounting the depth cavity, the path is studied by simulation and experiment. The experiment result shows when the articulated vehicle surmounts the cavity of 0.46m, there is a yaw angle about 5o and the motion direction yaws. By calculating the differential kinematic equations, it is founded that the wheel-ground contact angles in both sides of the front (or rear) wheels change differently, which leads to the rotation around the vertical axis and yaw. Finally, we analyze the experiment and simulation errors.

• Periodical: Applied Mechanics and Materials (Volumes 556-562)
• Pages: 1372-1376
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.556-562.1372
• Online since: May 2014
• Authors: Wei Kou*, Xin Hui Liu
• Keywords: Articulated Vehicle, D-H Method, Obstacle Negotiation, Yaw

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