Title :
Dynamic analysis of an angular swivel steering mechanism with applications to step climbing
Author :
Salem, Wael ; Shammas, Elie ; Asmar, Daniel ; Bazzi, Samer
Author_Institution :
Dept. of Mech. Eng., American Univ. of Beirut, Beirut, Lebanon
Abstract :
In this paper, we introduce a novel mobile robotic platform that is capable of navigating rough terrains. The proposed design utilizes an active angular swivel steering mechanism to perform wide-range steering as well as obstacle climbing. We extend the previously conducted kinematic analysis and develop dynamic models of the proposed platform to showcase its locomotive capabilities. Finally, we introduce a simple step-climbing path planning method.
Keywords :
mobile robots; path planning; robot dynamics; robot kinematics; steering systems; angular swivel steering mechanism; dynamic analysis; kinematic analysis; locomotive capabilities; mobile robotic platform; obstacle climbing; rough terrain navigation; simple step-climbing path planning method; step climbing; wide-range steering; Equations; Joints; Mathematical model; Mobile communication; Mobile robots; Wheels;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878208
