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Kineto-static Analysis of an Articulated Six-wheel Rover

  • Philippe Bidaud
  • Faiz Benamar
  • Tarik Poulain
Conference paper

Abstract

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.

Keywords

Kinematic Structure Unmanned Ground Vehicle Passive Joint Wheel Velocity Wheel Radius 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Pierce, G.M. (2005) Robotics: Military applications for special operations forces.Google Scholar
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    Mohamed, M.G. and Duffy, J. (1985) A direct determination of the instantaneous kinematics of fully parallel robot manipulators. ASME Journal, vol. 107, no. 2.Google Scholar
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    Hunt, K.H. (1978) Kinemaric geometry of mechanisms. Clarendon Press.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Philippe Bidaud
    • 1
  • Faiz Benamar
    • 1
  • Tarik Poulain
    • 1
  1. 1.Laboratoire de Robotique de ParisUniversité Paris 6 / CNRSFontenay Aux RosesFrance

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