Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms
All terrain vehicles (ATV) perform tasks in unstructured environments where the advanced adaptive ability of rigid terrain has become a key factor. In this article, we propose a novel horse inspired all terrain eight-wheeled vehicle with four swing arms for transportation in the mountain battlefield...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9235503/ |
| _version_ | 1818725956104224768 |
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| author | Xuanyi Zhou Jilin He Qinghua He Changji Ren Bhushan Miaolei He |
| author_facet | Xuanyi Zhou Jilin He Qinghua He Changji Ren Bhushan Miaolei He |
| author_sort | Xuanyi Zhou |
| collection | DOAJ |
| description | All terrain vehicles (ATV) perform tasks in unstructured environments where the advanced adaptive ability of rigid terrain has become a key factor. In this article, we propose a novel horse inspired all terrain eight-wheeled vehicle with four swing arms for transportation in the mountain battlefield. The mechanism structure and system configuration of the ATV are designed based on the horse leg kinematics analysis. In order to analyze the obstacle surmounting strategy of the ATV, the kinematics model and the center of gravity of the ATV are represented. A model reference adaptive control method is proposed for the hydraulic attitude control system. Then the model for obstacle surmounting is proposed for dynamics performance and geometric kinematics. Additionally, the simulation is executed in Adams to verify the analysis and strategy. Finally, the experiment is demonstrated for climbing a vertical wall, which is a challenging and typical terrain of the mountain battlefield. |
| first_indexed | 2024-12-17T21:50:32Z |
| format | Article |
| id | doaj.art-5520a67482e040a7aefc1dfb22a51b73 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-17T21:50:32Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5520a67482e040a7aefc1dfb22a51b732022-12-21T21:31:20ZengIEEEIEEE Access2169-35362020-01-01819435119436210.1109/ACCESS.2020.30331489235503Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing ArmsXuanyi Zhou0https://orcid.org/0000-0001-9584-9426Jilin He1Qinghua He2Changji Ren3 Bhushan4https://orcid.org/0000-0002-9257-6351Miaolei He5https://orcid.org/0000-0003-4743-2663State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaState Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaState Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaState Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaControl Engineering at DIAG, Sapienza University of Rome, Rome, ItalyCollege of Engineering and Design, Hunan Normal University, Changsha, ChinaAll terrain vehicles (ATV) perform tasks in unstructured environments where the advanced adaptive ability of rigid terrain has become a key factor. In this article, we propose a novel horse inspired all terrain eight-wheeled vehicle with four swing arms for transportation in the mountain battlefield. The mechanism structure and system configuration of the ATV are designed based on the horse leg kinematics analysis. In order to analyze the obstacle surmounting strategy of the ATV, the kinematics model and the center of gravity of the ATV are represented. A model reference adaptive control method is proposed for the hydraulic attitude control system. Then the model for obstacle surmounting is proposed for dynamics performance and geometric kinematics. Additionally, the simulation is executed in Adams to verify the analysis and strategy. Finally, the experiment is demonstrated for climbing a vertical wall, which is a challenging and typical terrain of the mountain battlefield.https://ieeexplore.ieee.org/document/9235503/All terrain vehicleobstacle surmountingmotion kinematics analysis |
| spellingShingle | Xuanyi Zhou Jilin He Qinghua He Changji Ren Bhushan Miaolei He Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms IEEE Access All terrain vehicle obstacle surmounting motion kinematics analysis |
| title | Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms |
| title_full | Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms |
| title_fullStr | Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms |
| title_full_unstemmed | Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms |
| title_short | Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms |
| title_sort | motion kinematics analysis of a horse inspired terrain adaptive unmanned vehicle with four hydraulic swing arms |
| topic | All terrain vehicle obstacle surmounting motion kinematics analysis |
| url | https://ieeexplore.ieee.org/document/9235503/ |
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