Analysis and traction control of a rocker-bogie planetary rover
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2005
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| Online Access: | http://hdl.handle.net/1721.1/9611 |
| _version_ | 1811069326675935232 |
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| author | Hacot, Hervé, 1974- |
| author2 | Steven Dubowsky. |
| author_facet | Steven Dubowsky. Hacot, Hervé, 1974- |
| author_sort | Hacot, Hervé, 1974- |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998. |
| first_indexed | 2024-09-23T08:09:20Z |
| format | Thesis |
| id | mit-1721.1/9611 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T08:09:20Z |
| publishDate | 2005 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/96112020-07-16T13:23:07Z Analysis and traction control of a rocker-bogie planetary rover Hacot, Hervé, 1974- Steven Dubowsky. Massachusetts Institute of Technology. Department of Mechanical Engineering Mechanical Engineering Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998. Includes bibliographical references (leaves 86-90). Robotic rovers have become important tools in planetary exploration. Future missions require improved rover performance. This thesis presents an analysis of a six-wheeled prototype rover. Its design is based on the rockerbogie configuration. A procedure is presented which can rapidly compute the configuration of the rover as a function of its environment. Also, a quasi-static force analysis of the system is detailed. It considers realistic physical constraints such as wheel slip and actuator saturation. A computer simulation with a graphic interface is developed to evaluate performance and enhance the understanding of the system. The analysis leads to the design of a fuzzy logic controller that increases rover traction and mobility. Analytical and experimental studies are performed to validate the analysis and control scheme. by Hervé Hacot. S.M. 2005-08-19T18:54:59Z 2005-08-19T18:54:59Z 1998 1998 Thesis http://hdl.handle.net/1721.1/9611 42251055 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 110 leaves 6793263 bytes 6793022 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering Hacot, Hervé, 1974- Analysis and traction control of a rocker-bogie planetary rover |
| title | Analysis and traction control of a rocker-bogie planetary rover |
| title_full | Analysis and traction control of a rocker-bogie planetary rover |
| title_fullStr | Analysis and traction control of a rocker-bogie planetary rover |
| title_full_unstemmed | Analysis and traction control of a rocker-bogie planetary rover |
| title_short | Analysis and traction control of a rocker-bogie planetary rover |
| title_sort | analysis and traction control of a rocker bogie planetary rover |
| topic | Mechanical Engineering |
| url | http://hdl.handle.net/1721.1/9611 |
| work_keys_str_mv | AT hacotherve1974 analysisandtractioncontrolofarockerbogieplanetaryrover |