Research on Simplified Dynamics Model of Articulated Suspension Vehicle

Yun Wang,Xueyuan Li,Yuzheng Zhu,Ziyong Han,Lei Wang

2021 3rd International Conference on Robotics and Computer Vision (ICRCV)（2021）

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摘要

The articulated suspension vehicle, with its characteristics of high maneuverability, high passability and high stability, combines the advantages of leg motion and wheel motion. This paper aims to solve the complexity of centroid dynamics model of the articulated suspension vehicle. Firstly, according to the force equivalent simplification principle, the centroid dynamics model of the articulated...

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关键词

Legged locomotion,Suspensions (mechanical systems),Analytical models,Computational modeling,Dynamics,Force,Wheels

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