A model of six-wheel electric off-road vehicle was developed from the environmental conservation and labor replacement points of view. All wheels of the vehicle can be moved up and down at crossing over an obstacle corresponding to the shape, which is sensed in front of the vehicle. Four wheels are independently driven by each electric motor, which is attached to the wheel axle (i.e. wheel-in motor). The vehicle has a changing system of its center of gravity by shifting a weight longitudinally depending on the situation of wheels' positions in order to confirm its stability. A computer program automatically controls all these movements. The design concept, structure, control system of the vehicle and experimental results at crossing over the obstacle and turning are presented in this paper.
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