Dynamic simulation of an articulated off-road vehicle

Kazuya Yoshida; Tomoko Shiwa; Mitsunori Oda

doi:10.2514/6.1998-4362

Dynamic simulation of an articulated off-road vehicle

Kazuya Yoshida, Tomoko Shiwa, Mitsunori Oda

ENG - Aerospace Engineering

Tohoku University

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

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 language	English
Pages	257-261
Number of pages	5
DOIs	https://doi.org/10.2514/6.1998-4362
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

Conference	Modeling and Simulation Technologies Conference and Exhibit, AIAA 1998
Country/Territory	United States
City	Boston
Period	98/8/10 → 98/8/12

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10.2514/6.1998-4362

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title = "Dynamic simulation of an articulated off-road vehicle",

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.",

author = "Kazuya Yoshida and Tomoko Shiwa and Mitsunori Oda",

note = "Publisher Copyright: {\textcopyright} 1998, by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.; Modeling and Simulation Technologies Conference and Exhibit, AIAA 1998 ; Conference date: 10-08-1998 Through 12-08-1998",

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doi = "10.2514/6.1998-4362",

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AU - Yoshida, Kazuya

AU - Shiwa, Tomoko

AU - Oda, Mitsunori

PY - 1998

Y1 - 1998

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84959249346&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84959249346&partnerID=8YFLogxK

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DO - 10.2514/6.1998-4362

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EP - 261

T2 - Modeling and Simulation Technologies Conference and Exhibit, AIAA 1998

Y2 - 10 August 1998 through 12 August 1998

ER -

Dynamic simulation of an articulated off-road vehicle

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