Research on a tracked omnidirectional and cross-country vehicle

Zhang, Yunan; Huang, Tao

doi:10.1016/j.mechmachtheory.2014.12.016

Cited by 24 publications

(17 citation statements)

References 3 publications

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“…is chassis has superior cross-country capability compared to common wheeled vehicles, but they also have poor maneuverability, especially poor steering performance. A tracked omnidirectional vehicle was designed by Zhang and Huang [8]. e vehicle has superior steering efficiency and omnidirectional motion ability on uneven terrains.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Steering and Lifting Mechanisms for Forestry Vehicle Chassis

Kang

2020

Mathematical Problems in Engineering

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Due to its special topographical structure, the forest working environment requires a vehicle chassis that can adapt well to complex terrain conditions. This article describes the key components of a chassis that was designed to adapt to complex terrain. The working principle and structural design of the steering structure and the lifting structure are analyzed in detail, and function verification is carried out. The steering mechanism has three degrees of freedom, and the first degree of freedom reduces the body’s inclination by 30°. The second degree of freedom can increase the steering angle of the chassis to 47°, decreasing the turning radius of the chassis. The third degree of freedom reduces the body rollover inclination by 30°. The entire steering mechanism enhances the ride and stability of the chassis. With the lifting mechanism, the wheel-legs are lifted so that the chassis can pass a limit height of 187 mm, and the wheel-legs are lowered to raise the center of gravity of the vehicle chassis by 244 mm. The entire lifting mechanism greatly improves the vehicle's ability to cross forest terrain. The size is reduced by 10% compared to other structures, and the lifting height and obstacle resistance are improved by 12.7%.

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Section: Introductionmentioning

confidence: 99%

Design and Analysis of Steering and Lifting Mechanisms for Forestry Vehicle Chassis

Kang

2020

Mathematical Problems in Engineering

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“…13 Compared to the traditional cross-country vehicles, omnidirectional robots have superior maneuverability and cross-country capability. 14 Therefore, in this study, four omniwheels were mounted on a walking assistance training robot to allow it to move omnidirectionally; however, this also presented a challenge in the control of the robot. Unlike vehicles with standard wheels, omnidirectional vehicles suffer from noticeable jitter in the orientation angle.…”

Section: Introductionmentioning

confidence: 99%

“…13 Compared to the traditional cross-country vehicles, omnidirectional robots have superior maneuverability and cross-country capability. 14…”

Section: Introductionmentioning

confidence: 99%

Dynamic output feedback control for a walking assistance training robot to handle shifts in the center of gravity and time-varying arm of force in omniwheel

Chang

Wang

Sun

2020

International Journal of Advanced Robotic Systems

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In this study, we designed a dynamic output feedback control for a walking assistance training robot. The proposed system addresses the problems of shifts in the center of gravity and vibration associated with time-varying arm of force in omniwheel to improve the accuracy of the trajectory tracking of the walking assistance training robot. The dynamic output feedback controller was developed by constructing a velocity observer on a stochastic dynamic model of the walking assistance training robot via integration with a Lyapunov function. An analysis of the time-varying arm of force in omniwheel revealed that it increased the accuracy of the walking assistance training robot dynamic model. Thus, an adaptive law was designed such that the vibration caused by the time-varying arm of force in omniwheel was eliminated. The mean absolute practical stability in the position and velocity tracking errors was verified based on Young’s inequality and stochastic stability theory. The simulation results show that the walking assistance training robot with the shifts in the center of gravity was able to track a designed trajectory and that the application of the adaptive law effectively eliminates the vibrations caused by the time-varying arm of force in omniwheel.

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“…Due to the advantages of powerful traction, low ground contact pressure (Rahman et al, 2007; Zhang and Huang, 2015), strong climbing capacity and small swerving radius, track assemblies have been widely used in military vehicles and engineering machinery. The track tension has an important influence on the performance of the crawler driving system (Huh and Hong, 2001).…”

Section: Introductionmentioning

confidence: 99%

Dynamics modeling and control of active track tensioning system for tracked vehicle

Wang

Rui

et al. 2019

Journal of Vibration and Control

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Track assemblies are widely used to reduce vehicles’ ground pressure and improve their off-road performance. During off-road, the track tension has a significant effect on the performance of the crawler driving system. Previous control strategies only make use of the motions of partial road wheels. This paper develops a logical improvement to govern the motion of the track tensioner by using all road wheels. First, a dynamic model of the hydraulic-mechanism coupling system is established using the transfer matrix method for multibody systems and pressure-flow equations. Then, in order to get the angle of the idler arm, a modeling method of wheel envelope perimeter is developed, which is based on the locations of all wheels. Simulation results indicate that the control system maintains the wheel envelope perimeter almost constant while road wheels swing and decrease the possibility of peel-off and breakage of the track. It alleviates the track repeated stretch and keeps the tension in a stable range to reduce the fatigue damage. The control strategy can effectively reduce the peak value of the upper track tension during a vehicle passing through obstacles. This study suggests that the active track tensioning system can be implemented to improve the driving properties of tracked vehicles.

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Research on a tracked omnidirectional and cross-country vehicle

Cited by 24 publications

References 3 publications

Design and Analysis of Steering and Lifting Mechanisms for Forestry Vehicle Chassis

Design and Analysis of Steering and Lifting Mechanisms for Forestry Vehicle Chassis

Dynamic output feedback control for a walking assistance training robot to handle shifts in the center of gravity and time-varying arm of force in omniwheel

Dynamics modeling and control of active track tensioning system for tracked vehicle

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