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A mobile robot with a two-degree-of-freedom suspension for traversing uneven terrain with minimal slip: Modeling, simulation and experiments

Appala, Tharakeshwar and Ghosal, Ashitava (2015) A mobile robot with a two-degree-of-freedom suspension for traversing uneven terrain with minimal slip: Modeling, simulation and experiments. In: MECHANISM AND MACHINE THEORY, 93 . pp. 83-97.

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Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2015.06...

Abstract

It is known in literature that a wheeled mobile robot (WMR) with fixed length axle will slip on an uneven terrain. One way to avoid wheel slip is to use a torus-shaped wheel with lateral tilt capability which allows the distance between the wheel-ground contact points to change even with a fixed length axle. Such an arrangement needs a two degree-of-freedom (DOF) suspension for the vertical and lateral tilting motion of the wheel. In this paper modeling, simulation, design and experimentation with a three-wheeled mobile robot, with torus-shaped wheels and a novel two DOF suspension allowing independent lateral tilt and vertical motion, is presented. The suspension is based on a four-bar mechanism and is called the double four-bar (D4Bar) suspension. Numerical simulations show that the three-wheeled mobile robot can traverse uneven terrain with low wheel slip. Experiments with a prototype three-wheeled mobile robot moving on a constructed uneven terrain along a straight line, a circular arc and a path representing a lane change, also illustrate the low slip capability of the three-wheeled mobile robot with the D4Bar suspension. (C) 2015 Elsevier Ltd. All rights reserved.

Item Type: Journal Article
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Additional Information: Copy right for this article belongs to the PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
Keywords: Uneven terrain; Wheel slip; Lateral tilt; Torus-shaped wheels; Two-degree-of-freedom suspension; Wheeled mobile robot
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 24 Sep 2015 06:53
Last Modified: 24 Sep 2015 06:53
URI: http://eprints.iisc.ernet.in/id/eprint/52428

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