Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
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Mobility Stabilization of a $6\times6$ Robot Vehicle by Suspension Kinematics Reconfiguration

현가장치 기구 재구성에 의한 $6\times6$ 로봇차량의 기동성 안정화

  • Received : 2009.12.15
  • Accepted : 2010.05.27
  • Published : 2010.06.30
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Abstract

The dynamic stability of a robot vehicle can be enhanced by the Force-Angle Stability Margin concept that considers a variety of dynamic effects. To evaluate the robot vehicle stability, a SPI(stability performance index), which is a function of the suspension arm angles, was used. If the SPI has a minimum value, the robot vehicle has maximum stability. The FASM and SPI concepts were incorporated in the mobility simulation by using ADAMS and MATLAB/Simulink. The simulation results using these concepts showed significant improvements of the vehicle stability on rough terrains.

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References

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