A THREE-WHEELED MOBILE ROBOT FOR TRAVERSING UNEVEN TERRAIN WITHOUT SLIP: SIMULATION AND EXPERIMENTS

Tharakeshwar, Appala and Ghosal, Ashitava (2013) A THREE-WHEELED MOBILE ROBOT FOR TRAVERSING UNEVEN TERRAIN WITHOUT SLIP: SIMULATION AND EXPERIMENTS. In: MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 41 (1). 60-78.

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Abstract

A wheeled mobile robot (WMR) can move on uneven terrains without slip if the wheels are allowed to tilt laterally. This paper deals with the analysis, design and experimentations with a WMR where the wheels can tilt laterally. The wheels of such a WMR must be equipped with two degrees of freedom suspension mechanism. A prototype three-wheeled mobile robot is fabricated with a two degree-of-freedom suspension mechanism. Simulations show that the three-wheeled mobile robot can traverse uneven terrains with very little slip and experiments with the prototype on a representative uneven terrain confirm that the slip is significantly reduced.

Item Type:	Journal Article
Publication:	MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES
Publisher:	TAYLOR & FRANCIS INC
Additional Information:	Copyright for this article belongs to the TAYLOR & FRANCIS INC,USA
Keywords:	Slip free motion; Two-degree of freedom suspension; Uneven terrain; Wheel lateral tilt
Department/Centre:	Division of Mechanical Sciences > Centre for Product Design & Manufacturing Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	03 Apr 2013 11:16
Last Modified:	03 Apr 2013 11:16
URI:	http://eprints.iisc.ac.in/id/eprint/46263

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