DOI QR코드

DOI QR Code

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

Abstract

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.

Keywords

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

References

  1. Nikravesh, P. E., 1988, "Computer Aided Analysis of Mechanimal Systems," Prentice Hall International, Inc.
  2. Yoo, W. S., Na, S. D. and Kim, K. S., 2012, "Real- Time Dynamic Analysis of Vehicle with Experimental Vehicle Model," Trans. Korean Soc. Mech. Eng. A, Vol. 36, No.9, pp.1003-1008 https://doi.org/10.3795/KSME-A.2012.36.9.1003
  3. Kim, S. S. and Vanderploeg, M. J., 1986, "A General and Efficient Method for Dynamic Analysis of Mechanical Systems Using Velocity Transformations," Transac-tions of ASME, Vol.108, pp.176-182
  4. Lee, J. W., Sohn, J. H., Kim, K. S. and Yoo, W. S., 2001, "Construction of System Jacobian in the Equations of Motion Using Velocity Transformation Technique," Trans. Korean Soc. Mech. Eng. A, Vol. 25, No.12, pp.1966-1973
  5. Cho, D. H., Lee, J. H., Yi, K. C. and Yoo, W. S., 2009, "A Study on the Real-Time Analysis of a $6{\times}6$ Autonomous Vehicle," Trans. Korean Soc. Mech. Eng. A, Vol. 33, No.12, pp.1433-1441 https://doi.org/10.3795/KSME-A.2009.33.12.1433
  6. Son, A. R, 2008, "Derivation of $6{\times}6$ Vehicle and Efficient Simulation," Master's Thesis, Pusan National University, Busan, Republic of Korea
  7. MSC.ADAMS/Tire User Manual, 2005, MSC. Software Corporation.

Acknowledgement

Grant : 경전투용 다중로봇 통합운용/제어기술개발

Supported by : 국방과학연구소