Dynamic simulation of an articulated off-road vehicle

Kazuya Yoshida, Tomoko Shiwa, Mitsunori Oda

Research output: Contribution to conferencePaperpeer-review

Abstract

In the space robotics lab, Tohoku University, we have developed a laboratory test-bed of a planetary exploration rover, which has an articulated chassis with both active and passive wheels. The test-bed has shown a good locomotion capability on natural rough terrains. In this paper, we focus the tire mechanics based on the Gim and Nikravesh model. The kinematics and dynamics of the articulated rover is studied for practical computer simulation. The dynamic simulation with the presented tire model shows a good agreement with the experimental result for the winding motion on a flat floor.

Original languageEnglish
Pages257-261
Number of pages5
DOIs
Publication statusPublished - 1998 Jan 1
EventModeling and Simulation Technologies Conference and Exhibit, AIAA 1998 - Boston, United States
Duration: 1998 Aug 101998 Aug 12

Other

OtherModeling and Simulation Technologies Conference and Exhibit, AIAA 1998
Country/TerritoryUnited States
CityBoston
Period98/8/1098/8/12

ASJC Scopus subject areas

  • Modelling and Simulation

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