Attitude-based dynamic and kinematic models for wheels of mobile robot on deformable slope |
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| Affiliation: | 1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China;2. Department of Aerospace Engineering, Ryerson University, Toronto, Canada;3. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China;1. School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia;2. Faculty of Engineering and Information Technology, University of Technology, Sydney, NSW 2007, Australia;1. Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering, Shandong University, 17923 Jingshi Road, Jinan 250061, China;2. Department of Physical Medicine and Rehabilitation, Qilu Hospital, Shandong University, Jinan 250012, China;1. School of Electronics and Information Engineering, Tongji University, Shanghai, China;2. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;1. Key Laboratory for Bionics Engineering of Education Ministry, Jilin University, Changchun 130022, China;2. School of Mechatronic Engineering, East China Jiaotong University, Nanchang 330045, China;3. Aerospace System Engineering Shanghai, Shanghai 201108, China |
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| Abstract: | Deformable slope is a type of terrain that wheeled mobile robots (WMRs) and ground unmanned vehicles (GUVs) may have to traverse to accomplish their mission tasks. However, the associated terramechanics for wheels with arbitrary posture is rarely studied. In this paper, based on wheel attitude, dynamics of the wheel–terrain interaction for a rigid wheel on deformable slope is investigated. Through introducing the angular geometry of wheel attitude into terramechanics theory, a generalized dynamic model is developed, involving two inclination angles of slope and three attitude angles of wheel steering axis. Two representative cases are studied: the wheel runs straight forward and perpendicular to the slope, and the wheel is in a steering maneuver with an inclined steering axis. A generalized kinematic model for wheel–terrain contact point and wheel center is also provided, which analytically explicates that trajectory of wheel motion is coupled with wheel attitude while driven by angular rates. The proposed attitude-based models are valid for arbitrary wheel–terrain geometry and can lead to control purpose directly. Effectiveness of the models is confirmed by simulating the influences from attitude to wheel mechanics and motion. |
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| Keywords: | Wheel-terrain interaction Wheel attitude Deformable slope Wheel motion model Mobile robots |
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