In this paper, the multibody model of a novel tracked vehicle with passive articulated suspension is presented. The vehicle being modeled is called Polibot, an electric unmanned ground robot specifically designed to traverse uneven terrains and perform precision field operations thanks to the perception system installed onboard. The model of the tracked vehicle is developed using the multibody software MSC ADAMS (acronym for Automatic Dynamic Analysis of Mechanical Systems). The different subsystems composing the vehicle assembly are outlined, with specific attention to the modeling strategies of the swing arms constituting the suspension system, as well as the characterization of the track belt. Finally, the performance of Polibot in the negotiation of a bump is discussed by comparing the two configurations with active and locked suspension.
Multibody Simulation of a Novel Tracked Robot with Innovative Passive Suspension / Grazioso, A.; Galati, R.; Mantriota, G.; Reina, G.. - 122:(2022), pp. 139-146. (Intervento presentato al convegno 4th International Conference of the IFToMM Italy, IFIT 2022 tenutosi a ita nel 2022) [10.1007/978-3-031-10776-4_17].
Multibody Simulation of a Novel Tracked Robot with Innovative Passive Suspension
Grazioso A.Conceptualization
;Galati R.Conceptualization
;Mantriota G.Conceptualization
;Reina G.
Conceptualization
2022-01-01
Abstract
In this paper, the multibody model of a novel tracked vehicle with passive articulated suspension is presented. The vehicle being modeled is called Polibot, an electric unmanned ground robot specifically designed to traverse uneven terrains and perform precision field operations thanks to the perception system installed onboard. The model of the tracked vehicle is developed using the multibody software MSC ADAMS (acronym for Automatic Dynamic Analysis of Mechanical Systems). The different subsystems composing the vehicle assembly are outlined, with specific attention to the modeling strategies of the swing arms constituting the suspension system, as well as the characterization of the track belt. Finally, the performance of Polibot in the negotiation of a bump is discussed by comparing the two configurations with active and locked suspension.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
