Modeling and Simulation of a Three-Wheeled Mobile Robot on Uneven Terrains with Two-Degree-of-Freedom Suspension Mechanisms |
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Authors: | Appala Tharakeshwar |
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Institution: | Department of Mechanical Engineering , SSJ Engineering College , Hyderabad , India |
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Abstract: | A wheeled mobile robot (WMR) will move on an uneven terrain without slip if its torus-shaped wheels tilt in a lateral direction. An independent two degree-of-freedom (DOF) suspension is required to maintain contact with uneven terrain and for lateral tilting. This article deals with the modeling and simulation of a three-wheeled mobile robot with torus-shaped wheels and four novel two-DOF suspension mechanism concepts. Simulations are performed on an uneven terrain for three representative paths—a straight line, a circular, and an ‘S’-shaped path. Simulations show that a novel concept using double four-bar mechanism performs better than the other three concepts. |
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Keywords: | Slip free motion Torus-shaped wheel Two-degree-of-freedom suspension Uneven terrain Wheeled mobile robot |
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