Research on Stability of a 2 DOF Articulated Vehicle

Abstract:

In many fields’ rough-terrain vehicles, e.g., mineral exploration vehicles, military applications vehicles, vehicles that can move on rough terrains are desired. The ability of obstacle-climbing was affected by stability of vehicle. The stability of vehicle is closely related to the body attitude, which composes with a number of bodies. For this reason, in this paper, a wheeled mobile vehicle with 2 DOF articulated frame (2DWAV), for example, the new concept of correlative stability is presented. The stability of 2DWAV was analyzed based on static and dynamic in this paper, when it was driving on rough terrain. Finally, the simulation and experiment on rough terrain are carried out.

• Periodical: Advanced Materials Research (Volumes 201-203)
• Pages: 2709-2716
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.201-203.2709
• Online since: February 2011
• Authors: Wei Wei, Xin Hui Liu, Yan Li Chen
• Keywords: 2 DOF Articulated Frame, Correlative Stability, Dynamic-Static Method, Multi-Body System

References

[1] Nilanjan Chakraborty, Ashitava Ghosal: Mech. Mach. Theory, Vol. 39 (2004) p.1273.

[2] Michele Lacagnina, Giovanni Muscato, Rosario Sinatra: Robotics and Autonomous Systems Vol. 45 (2003) p.161.

[3] Luis Gracia, Josep Torneroin, Robotics and Autonomous Systems Vol. 57 (2009), p.5650.

[4] B. Li, J. G Liu and D. L Tan: Robot, Vol. 27 (2005), p.242.

[5] Dennis R. Pugh, Eric A. Ribble, Vincent J. Vohnout: The International Journal of Robotics Research Vol. 9 (1990), p.23.

[6] Pierre Lamon, Roland Siegwart: The International Journal of Robotics Research Vol. 9 (2007), p.167.

[7] Takeshi Tamura, Tadaharu Kobayashi, Nobuhiro Shibui: IEEE Transactions on Control Systems Technology Vol. 3 (1995), p.125.