Simplified Model of Wheel Type Dog-Horse Robot to Reduce Dynamic Analysis Time

차륜형 견마 로봇의 동역학 해석시간 단축을 위한 단순화 모델

  • Received : 2015.08.03
  • Accepted : 2015.12.16
  • Published : 2016.02.01


In wartime conditionsmilitary combat vehicles are required to be driven on rough roads that have significant obstacles. A wheel type dog-horse robot with a rotary suspension system was applied to overcome the obstacles. To achieve real-time analysis, a simplified model was proposed by using velocity transformations. Through comparison with the multi-body dynamics model, the efficiency and accuracy of the proposed modeling was proven.


Wheel Type Dog-Horse Robot;Rotary Suspension System;Skid Steer;Real-Time Analysis;Simplified Model


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Grant : 경전투용 다중로봇 통합운용/제어기술개발

Supported by : 국방과학연구소