DESIGN AND KINEMATIC ANALYSIS OF TERRAIN ADAPTING WHEELED ROBOTIC VEHICLE FOR PLANETARY EXPLORATION

摘要

This paper describes the design and kinematic modeling of unique robotic chassis and suspension of a four-wheeled robotic vehicle. Brief design description is followed by developing wheel Jacobians that relate the chassis velocities with the wheel velocities. The individual matrices for the wheels are combined to form a composite robot solution, which is solved to obtain rover velocities. The rover configuration, which gives the maximum traction, is developed by a dynamic analysis.