KINEMATICS OF 16 DOF ROBOTIZED VEHICLE CHASSIS
Abstract eng: This paper deals with elaboration of a mathematical model of a robotized chassis with sixteen degrees of freedom. This model will be used for setting of gear parameters, it will be a part of control system, and it will be a base for creation of a simulator in the future. The chassis is equipped with four arms ended with wheels. Each arm has four degrees of freedom. The kinematics is solved within the range of location and speed with maximal observance of rolling conditions between the wheels and the surface. Some animations of the vehicle basic motions which can be seen on internet pages are conclusion of the paper.
Contributors:
Publisher:
Institute of Thermomechanics AS CR, v.v.i., Brno
Conference Title:
Conference Title:
Engineering Mechanics 2008
Conference Venue:
Svratka (CZ)
Conference Dates:
2008-05-12 / 2008-05-15
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-11-13, last modified 2014-11-18
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