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Kinematics Modeling and Analysis of a Five-Wheeled Rover with Caster and Camber

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Intelligent Robotics and Applications (ICIRA 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6425))

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Abstract

Because of articulated all terrain rovers (ATR) have adaptivity of rough terrain, they are playing increasingly important role in many areas. Based on a castered-and-cambered 5-wheel-steering and 5-wheel-driving (5WS-5WD) ATR prototype, its kinematics model is derived for full 6 Degree of Freedom (DOF) motion, in this process, the influence of wheel-terrain contact including contact angle and slippage are taken into account. The kinematical impact of caster and camber is elaborated.

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Authors and Affiliations

  1. College of Mechanic and Electric Engineering, Harbin Engineering University, 150001, Harbin, P.R. China

    He Xu & Zhenyu Zhang

Authors
  1. He Xu
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  2. Zhenyu Zhang
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Editor information

Editors and Affiliations

  1. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

  2. Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China

    Han Ding , Zhenhua Xiong  & Xiangyang Zhu ,  & 

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© 2010 Springer-Verlag Berlin Heidelberg

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Xu, H., Zhang, Z. (2010). Kinematics Modeling and Analysis of a Five-Wheeled Rover with Caster and Camber. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_14

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  • DOI: https://doi.org/10.1007/978-3-642-16587-0_14

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16586-3

  • Online ISBN: 978-3-642-16587-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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