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.
|Number of pages||5|
|Publication status||Published - 1998|
|Event||Modeling and Simulation Technologies Conference and Exhibit, AIAA 1998 - Boston, United States|
Duration: 1998 Aug 10 → 1998 Aug 12
|Conference||Modeling and Simulation Technologies Conference and Exhibit, AIAA 1998|
|Period||98/8/10 → 98/8/12|