A testbed for the experimental study of a cylindrical shape robot on rough-terrain

被引：0

作者：

Foglia, M ^{[1
]}

Gentile, A ^{[1
]}

Reina, G ^{[1
]}

机构：

[1] Politecn Bari, Dipartimento Ingn Meccan & Gestionale, I-70126 Bari, Italy

来源：

IEEE ICIT' 02: 2002 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS I AND II, PROCEEDINGS | 2002年

关键词：

mobile robots; terramechanics; rough terrain; control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a testbed for the characterization of the dynamic behavior of a cylindrical robot in motion on deformable soil is described. The mobile robot consists in a cylindrical rigid shell which can rolls on rough terrain thanks to an internal device. The test-bench was designed and optimized to experimentally test the interaction between the external shell and the soil with different mechanical characteristics. A LabView based software to lead and acquire the necessary data for the experiments was developed. Pc-based boards with general purposes A/D I/O ports were used for the rotative and linear encoders and the internal device d.c. motor. The goal is to build a big sensor to estimate the forces system arising from the interaction between a rigid cylindrical shell and rough terrain. Experimental results show the testbed can give a good measure of the travelling resistance that the mini-vehicle meets on rough terrain.

引用

页码：163 / 168

页数：6