Kineto-static analysis of an articulated six-wheel rover
Résumé
In this paper, a kineto-static analysis for an articulated six-wheeled rover called RobuRoc is investigated. A methodology based on reciprocal screw systems is developed for the kinematic modeling and analysis of such multi-monocycle like kinematic structure. A six dimensional force ellipsoid is introduced for the evaluation of traction performances.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)