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Erschienen in:
Review of Recent Advances on Reactionless Mechanisms and Parallel Robots Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

20. Static Balancing of Articulated Wheeled Vehicles by Parallelogram- and Spring-Based Compensation

verfasst von : Aliakbar Alamdari, Venkat Krovi

Erschienen in: Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots

Verlag: Springer International Publishing

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Abstract

Articulated wheeled vehicles (AWVs) offer superior uneven terrain traversal capabilities by virtue of the superior reconfigurability within their articulated structure. However, this capability can be realized only at the price of increased actuation-based equilibration, oftentimes solely to support the gravitational loading. Hence, the simultaneous reduction of the overall actuation remains one of the critical challenges in such AWVs.
In this chapter, we address the static balancing of six degree-of-freedom AWVs with multiple leg-wheel subsystem. Static balancing is defined as a set of conditions on dimensional and inertial parameters of articulated vehicle components which ensure that the weight of the links and platform does not produce any torque/force at the actuators for any configuration of vehicle. In this study, elastic elements such as springs are employed in conjunction with parallelogram linkages to achieve the static balancing. The underlying principle is to realize an overall articulated system whose total potential energy including the elastic potential energy stored in springs and gravitational potential energy becomes constant.

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Vorheriges Kapitel Balancing Conditions of Planar and Spatial Mechanisms in the Algebraic Form
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Metadaten
Titel
Static Balancing of Articulated Wheeled Vehicles by Parallelogram- and Spring-Based Compensation
verfasst von
Aliakbar Alamdari
Venkat Krovi
Copyright-Jahr
2016
Buch
Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots

Print ISBN: 978-3-319-17682-6

Electronic ISBN: 978-3-319-17683-3

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-17683-3_20

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