MODELING AND SIMULATION OF A THREE-WHEELED MOBILE ROBOT ON UNEVEN TERRAINS WITH TWO-DEGREE-OF-FREEDOM SUSPENSION MECHANISMS

Tharakeshwar, Appala and Ghosal, Ashitava (2015) MODELING AND SIMULATION OF A THREE-WHEELED MOBILE ROBOT ON UNEVEN TERRAINS WITH TWO-DEGREE-OF-FREEDOM SUSPENSION MECHANISMS. In: MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 43 (4). pp. 466-486.

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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 pathsa 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.

Item Type:	Journal Article
Publication:	MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES
Publisher:	TAYLOR & FRANCIS INC
Additional Information:	Copy right for this article belongs to the TAYLOR & FRANCIS INC, 530 WALNUT STREET, STE 850, PHILADELPHIA, PA 19106 USA
Keywords:	Slip free motion; Torus-shaped wheel; Two-degree-of-freedom suspension; Uneven terrain; Wheeled mobile robot
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	31 Jul 2015 10:15
Last Modified:	31 Jul 2015 10:15
URI:	http://eprints.iisc.ac.in/id/eprint/51937

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