Analysis of factors affecting steering performance of wheeled skid-steered vehicles
Wheeled skid-steered vehicles have the advantages of compact structure, small steering radius and wide application. However, poor steering performance is an important limitation restricting the development of wheeled skid-steered vehicles. A kinematic model for analysing the relationship between whe...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-11-01
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| Series: | The Journal of Engineering |
| Subjects: | |
| Online Access: | https://digital-library.theiet.org/content/journals/10.1049/joe.2020.0065 |
| _version_ | 1819183049334587392 |
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| author | Hang Wu Hui Xiong Weitao Du Xiaodong Yang Zhiliang Xu Qifan Yang Yimin Shao |
| author_facet | Hang Wu Hui Xiong Weitao Du Xiaodong Yang Zhiliang Xu Qifan Yang Yimin Shao |
| author_sort | Hang Wu |
| collection | DOAJ |
| description | Wheeled skid-steered vehicles have the advantages of compact structure, small steering radius and wide application. However, poor steering performance is an important limitation restricting the development of wheeled skid-steered vehicles. A kinematic model for analysing the relationship between wheels’ rotation speed and the motion state of the vehicles’ mass centre based on Newton's second law was established, then the correctness of the kinematic model was verified by comparing the calculation results with simulation results. The key design perimeters affecting the steering performance were analysed by a control-variable method based on the established kinematic model. The results indicate that the established kinematic model can evaluate the steering performance of skid-steered vehicles correctly and can provide a reference for optimising the design of the vehicles. |
| first_indexed | 2024-12-22T22:55:50Z |
| format | Article |
| id | doaj.art-5f17c4a9ba324470ab9d2daa6ea8f56e |
| institution | Directory Open Access Journal |
| issn | 2051-3305 |
| language | English |
| last_indexed | 2024-12-22T22:55:50Z |
| publishDate | 2020-11-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Journal of Engineering |
| spelling | doaj.art-5f17c4a9ba324470ab9d2daa6ea8f56e2022-12-21T18:09:50ZengWileyThe Journal of Engineering2051-33052020-11-0110.1049/joe.2020.0065JOE.2020.0065Analysis of factors affecting steering performance of wheeled skid-steered vehiclesHang Wu0Hui Xiong1Weitao Du2Xiaodong Yang3Zhiliang Xu4Qifan Yang5Yimin Shao6State Key Laboratory of Mechanical Transmission, Chongqing UniversityCenter of Space Exploration, Ministry of EducationState Key Laboratory of Mechanical Transmission, Chongqing UniversityState Key Laboratory of Mechanical Transmission, Chongqing UniversityState Key Laboratory of Mechanical Transmission, Chongqing UniversityState Key Laboratory of Mechanical Transmission, Chongqing UniversityState Key Laboratory of Mechanical Transmission, Chongqing UniversityWheeled skid-steered vehicles have the advantages of compact structure, small steering radius and wide application. However, poor steering performance is an important limitation restricting the development of wheeled skid-steered vehicles. A kinematic model for analysing the relationship between wheels’ rotation speed and the motion state of the vehicles’ mass centre based on Newton's second law was established, then the correctness of the kinematic model was verified by comparing the calculation results with simulation results. The key design perimeters affecting the steering performance were analysed by a control-variable method based on the established kinematic model. The results indicate that the established kinematic model can evaluate the steering performance of skid-steered vehicles correctly and can provide a reference for optimising the design of the vehicles.https://digital-library.theiet.org/content/journals/10.1049/joe.2020.0065wheelsrobot kinematicstracked vehiclesmobile robotsroad vehiclesvehicle dynamicssteering systemsskid-steered vehiclessteering radiuspoor steering performancewheelsestablished kinematic model |
| spellingShingle | Hang Wu Hui Xiong Weitao Du Xiaodong Yang Zhiliang Xu Qifan Yang Yimin Shao Analysis of factors affecting steering performance of wheeled skid-steered vehicles The Journal of Engineering wheels robot kinematics tracked vehicles mobile robots road vehicles vehicle dynamics steering systems skid-steered vehicles steering radius poor steering performance wheels established kinematic model |
| title | Analysis of factors affecting steering performance of wheeled skid-steered vehicles |
| title_full | Analysis of factors affecting steering performance of wheeled skid-steered vehicles |
| title_fullStr | Analysis of factors affecting steering performance of wheeled skid-steered vehicles |
| title_full_unstemmed | Analysis of factors affecting steering performance of wheeled skid-steered vehicles |
| title_short | Analysis of factors affecting steering performance of wheeled skid-steered vehicles |
| title_sort | analysis of factors affecting steering performance of wheeled skid steered vehicles |
| topic | wheels robot kinematics tracked vehicles mobile robots road vehicles vehicle dynamics steering systems skid-steered vehicles steering radius poor steering performance wheels established kinematic model |
| url | https://digital-library.theiet.org/content/journals/10.1049/joe.2020.0065 |
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