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Communication Dans Un Congrès Année : 2005

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.
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Dates et versions

hal-03178084 , version 1 (24-03-2021)

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Philippe Bidaud, Faiz Ben Amar, Tarik Poulain. Kineto-static analysis of an articulated six-wheel rover. 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005), Sep 2005, Londres, United Kingdom. pp.475-484, ⟨10.1007/3-540-26415-9_57⟩. ⟨hal-03178084⟩
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