Design and Comparative Study of Mechanisms for Variable Ground Clearance for an Unmanned Ground Vehicle
Article No.: 19, Pages 1 - 8
Abstract
Ground clearance is an important parameter for the all-terrain vehicles. Higher ground clearance is required to move over rough terrains with larger obstacles. Simultaneously, the same vehicle may have to move over plane lands with higher speed, but with that same fixed ground clearance. This affects the performance, stability and fuel economy (power) of the vehicles. Hence it is always desirable to design a vehicle with variable ground clearance for multiple applications on different terrains. Unmanned Ground Vehicle (UGV) is such a vehicle which has potential for application for military or security and commercial purposes with capability of movements over rough terrains as well as plane roads, but commonly with fixed ground clearance.
Presently a medium, indigenous UGV is being developed for which the variable ground clearance mechanism has to be designed. The variable ground clearance is proposed to be designed using pneumatic or hydraulic or electric actuation systems. A qualitative comparison has been performed to identify the best suited mechanism from the point of simplicity, response-time and number of sub-components. It has been found that adjustable mechanism using electric actuator is most suitable for UGV in terms of response, simplicity and cost, though a separate suspension may have to be added.
References
[1]
https://clearpathrobotics.com/husky-unmanned-ground-vehicle-robot/
[2]
https://www.nrec.ri.cmu.edu/nrec/solutions/otherindustries/mini-crusher.html
[3]
https://1l3kf73dl0pg27adzc3ob3r9-wpengine.netdna-ssl.com/wp-content/uploads/2014/09/ Segway_SpecSheet_440SE.pdf
[4]
https://clearpathrobotics.com/warthog-unmanned-ground-vehicle-robot/
[5]
http://www.ppt-namenska.rs/milos.html
[6]
https://www.army-technology.com/projects/cutlass-next-generation-unmanned-ground-vehicle/
[7]
https://www.argo-xtr.com/index.php/xtr-robots/j6-atlas-xtr/
[8]
https://clearpathrobotics.com/moose-ugv/
[9]
http://www.hdtglobal.com/product/hdt-hunter-wolf/
[10]
https://www.army-technology.com/projects/squad-mission-support-system-smss/
[11]
https://www.ri.cmu.edu/project/crusher/
[12]
Baghel G., Jaiswal P., Dewangan, P., Parsend A., Devesh Shrivastava D. (2017) Adjustable Ground Clearance in Vehicles Using Pneumatic Lifting.Int. J. of Science, Engineering and Technology Research (IJSETR), Vol. 6, Issue 6, June 2017. pp. 1075 – 1081
[13]
Qiaoming G., Feng G., Lei T., Liujun L., Nenggen D., Guoyan X., Dawei J. (2014). Design and development of a variable ground clearance, variable wheel track self-leveling hillside vehicle power chassis (V2-HVPC). J. of Terramechanics, Vol. 56, pp. 77 – 90
[14]
Patil S. C. (2016), ADJUSTABLE GROUND CLEARANCE MECHANISM, 5th Int. Conf. on Recent Trends in Engineering, Science & Management, Dec. 9 - 10, 2016. Pune, India. pp. 1204 – 1210
[15]
SMC Corporation. Air Cylinder - JMB Series [Available Online]. www.smcworld.com/products/subject/en-jp/air_saving/actuators/jmb.html
[16]
SMC Corporation [E-Tech]. JIS Standard Hydraulic Cylinder [Available Online] www.content2.smcetech.com/pdf/CH2.pdf
[17]
Akin J. E., Rice University. Impact Load Factors for Static Analysis. [Available Online] www.clear.rice.edu/mech403/ HelpFiles/ImpactLoadFactors.pdf
[18]
Concens A/S (2020). Excellent Electric Actuator. [Available Online]. https://www.concens.com/
Recommendations
Modelling the vertical dynamics of unmanned ground vehicle with rocker suspension
2017 IEEE International Conference on Mechatronics and Automation (ICMA)In this paper, the vertical dynamic characteristics of unmanned ground vehicle (UGV) with rocker suspension are studied. A mathematical model is established to investigate the vertical dynamic characteristics of three-axle UGV with rocker suspension. This ...
Robust visual rear ground clearance estimation and classification of a passenger vehicle
2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)Computation of Visual Rear Ground Clearance of vehicles is an important computer vision application. This problem is challenging as the road and vehicle rear bumper may have subtle appearance differences, vehicle motion is on uneven surfaces and there are ...
The Mathematical Modeling of the Two-Echelon Ground Vehicle and Its Mounted Unmanned Aerial Vehicle Cooperated Routing Problem
2018 IEEE Intelligent Vehicles Symposium (IV)In this paper, we presents a novel Two-Echelon Ground Vehicle and Its Mounted Unmanned Aerial Vehicle Cooperated Routing Problem (2E-GUCRP), which consists of optimizing the route of both ground vehicle (GV) and its mounted Unmanned Aerial Vehicle(UAV) in ...
Comments
Information & Contributors
Information
Published In
June 2021
348 pages
ISBN:9781450389716
DOI:10.1145/3478586
- General Chair:
- Santanu Chaudhury,
- Program Chairs:
- Ashish Dutta,
- Tomohiro Shibata
Copyright © 2021 ACM.
© 2021 Association for Computing Machinery. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 28 December 2021
Check for updates
Qualifiers
- Research-article
- Research
- Refereed limited
Funding Sources
- DRDO India
Conference
AIR2021
AIR2021: Advances in Robotics - 5th International Conference of The Robotics Society
June 30 - July 4, 2021
Kanpur, India
Acceptance Rates
Overall Acceptance Rate 69 of 140 submissions, 49%
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 44Total Downloads
- Downloads (Last 12 months)12
- Downloads (Last 6 weeks)1
Reflects downloads up to 08 Mar 2025
Other Metrics
Citations
View Options
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign inFull Access
View options
View or Download as a PDF file.
PDFeReader
View online with eReader.
eReaderHTML Format
View this article in HTML Format.
HTML Format