DYNAMIC ANALYSIS OF ROVERS USING KANE'S APPROACH  Fulltext 

[ Meghdari ] - Professor Center of Excellence in Design, Robotics and Automation (CEDRA)
[ Karimi ] - Ph. D Student School of Mechanical Engineering, Sharif University of Technology, Iran.
[ Pishkenari ] - M. S. StudentSchool of Mechanical Engineering, Sharif University of Technology, Iran.
[ Mahboobi ] - Ph. D Student School of Mechanical Engineering, Sharif University of Technology, Iran.

خلاصه مقاله:

In this paper a novel approach to dynamic formulation of rovers has been presented. The complexity of these multi-body systems especially on rough terrain, challenged us to use the Kane’s method which has been preferred to others in these cases. As an example, symbolic equations of a six-wheeled rover, named CEDRA Rescue Robot which uses a shrimp like mechanism, have been derived and a simulation of forward and inverse dynamics has been presented. Due to the clear form of equations, each term defines a physical meaning which represents the effect of each parameter, resulting in a frame-work for performance comparison of rovers. Although the method has been described for a 2-D non-slipping case, it is also very useful for dimensional and dynamical optimization, high speed motion analysis, and checking various control algorithms. Furthermore, it can be extended to 3-D cases and other complicated mechanisms and rovers while conserving its inherent benefits and adding to the ease of handling nonholonomic constraints.

Dynamic Modeling – Rover – Rough Terrain – Kane’s Approach