Abstract
All terrain vehicles (ATV) perform tasks in unstructured environments where the advanced adaptive ability of rigid terrain has become a key factor. In this article, we propose a novel horse inspired all terrain eight-wheeled vehicle with four swing arms for transportation in the mountain battlefield. The mechanism structure and system configuration of the ATV are designed based on the horse leg kinematics analysis. In order to analyze the obstacle surmounting strategy of the ATV, the kinematics model and the center of gravity of the ATV are represented. A model reference adaptive control method is proposed for the hydraulic attitude control system. Then the model for obstacle surmounting is proposed for dynamics performance and geometric kinematics. Additionally, the simulation is executed in Adams to verify the analysis and strategy. Finally, the experiment is demonstrated for climbing a vertical wall, which is a challenging and typical terrain of the mountain battlefield.
Highlights
Unmanned Ground Vehicles(UGV) are widely applied in hazardous environments where human activities are restricted such as nuclear rescue [1], field reconnaissance [2] and unmanned combat [3]
In order to expand the scope of the UGV, varieties of All terrain vehicles (ATV) are proposed with strong ability of environmental adaptation in both military and civil applications [4]
Since the self-adaptive ability and the mechanism of the obstacle surmounting are the key factors that restrict the passage of ATV in complex and hazardous environments [30], a novel wheel-legged all terrain vehicle, called "Dragon Horse" is presented in this paper
Summary
Unmanned Ground Vehicles(UGV) are widely applied in hazardous environments where human activities are restricted such as nuclear rescue [1], field reconnaissance [2] and unmanned combat [3]. Since the self-adaptive ability and the mechanism of the obstacle surmounting are the key factors that restrict the passage of ATV in complex and hazardous environments [30], a novel wheel-legged all terrain vehicle, called "Dragon Horse" is presented in this paper. On the basis of studying the biological characteristics and mechanism of horse clearing a fence, this paper adopts a simple three-link motion plane obstacle crossing mechanism, as shown, which includes hydraulic cylinders as swing leg muscles, swing arm as swing leg and the wheel as a horseshoe. Draulically driven swing arm and chassis system have higher maneuverability than the electric drive system, which can realize stepless speed regulation and high torque It is designed for high-frequency shock and vibration environments when obstacle surmounting in complex terrains. When the swing arms are controlled by the planning method, the wheels of the ATV can contact the ground during obstacle surmounting.
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