An optimal method for the design of a robotic tracked vehicle to operate over fresh concrete under steering motion

Tran, Dang Thai; O’Brien, Jonathan; Muro, Tatsuro

doi:10.1016/s0022-4898(00)00022-7

Cited by 9 publications

(1 citation statement)

References 8 publications

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“…Simulation techniques are thus an excellent means to understand the optimum qualitative (or quantitative) characteristics of a given design, and so the test model production process, which is costly and time-consuming, can be skipped. A number of researchers have presented studies on the steering performance of tracked vehicles, including Baladi (1978), Kim (2003;2004;2010), Kitano (1977), Murakami (1992), Tran (2002), Sharp (2000), Jia (2000), etc. Their results indicate that a control drive is needed to carry out accurate rotary driving.…”

Section: Introductionmentioning

confidence: 99%

A Study on the Steering Performance and Turning Radius of Four-Rows Tracked Vehicle on Hard Ground

Oh¹,

Lee²,

Min³

et al. 2015

Journal of Advanced Research in Ocean Engineering

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This study proposes a method to determine the effective angular velocity of each motor of a specific four-rows tracked vehicle (FRTV) in order to follow a given turning radius. The configuration of the four-rows tracked vehicle is introduced, and its dynamics analysis model is built using the DAFUL commercial software. The soil has been assumed to be hard ground, and the friction force between the ground and the tracked links is calculated using the Coulomb friction model. This paper uses a simulation to show that the error in the position increased with respect to the angle of the curvatures, so a method is proposed to compensate for the error in the motion of the motors. Various simulations are then carried out to verify the proposed formulation. The effects of the soil characteristics and the driving velocity will be further investigated in future studies.

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Section: Introductionmentioning

confidence: 99%

A Study on the Steering Performance and Turning Radius of Four-Rows Tracked Vehicle on Hard Ground

Oh¹,

Lee²,

Min³

et al. 2015

Journal of Advanced Research in Ocean Engineering

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Neuron PI control for semi-active suspension system of tracked vehicle

Zeng

Liu

Jiaqiang

2011

J. Cent. South Univ. Technol.

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A neuron proportion integration (PI) control strategy for semi-active suspension system of tracked vehicle was proposed based on its unique structure and the multiple and complex environment of the driving traffic. An adaptive genetic algorithm is used to optimize the parameters of the neuron PI controller. The simulation result of the neuron PI control for semi-active suspension system of tracked vehicle indicates that the vertical amplitude, pitch angle and vertical acceleration of the vehicle are well controlled. The root mean square (RMS) of the vertical amplitude decreases by 37.2%, and 45.2% for the pitch angle, 38.6% for the vertical acceleration. The research of neuron PI control experiment for the semi-active suspension system of the tracked vehicle model mining in benthal indicates that the RMS of the weight acceleration vibrating along the vertical direction decreases by 29.5%, the power spectral density resonance peak of the acceleration of the car body decreases by 23.8%.

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Theoretical design and dynamic simulation of new mining paths of tracked miner on deep seafloor

Dai

Liu

2013

J. Cent. South Univ.

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An optimal method for the design of a robotic tracked vehicle to operate over fresh concrete under steering motion

Cited by 9 publications

References 8 publications

A Study on the Steering Performance and Turning Radius of Four-Rows Tracked Vehicle on Hard Ground

A Study on the Steering Performance and Turning Radius of Four-Rows Tracked Vehicle on Hard Ground

Neuron PI control for semi-active suspension system of tracked vehicle

Theoretical design and dynamic simulation of new mining paths of tracked miner on deep seafloor

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