Analyses, simulation and control of a wheeled-vehicle with AWIS (Auxiliary Wheels of Involute-Shape)
This project focuses on the development of the wheeled-vehicles by introducing AWIS, which stands for Auxiliary Wheels of Involute-Shape. The introduction of the AWIS to the wheeled-vehicle makes significant contribution towards the development of land-vehicles that have high negotiating movement ca...
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| Format: | Theses and Dissertations |
| Published: |
2008
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| Online Access: | https://hdl.handle.net/10356/5275 |
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| Institution: | Nanyang Technological University |
| Summary: | This project focuses on the development of the wheeled-vehicles by introducing AWIS, which stands for Auxiliary Wheels of Involute-Shape. The introduction of the AWIS to the wheeled-vehicle makes significant contribution towards the development of land-vehicles that have high negotiating movement capabilities on rough terrain while not imposing complexity in design and control. In-depth kinematics, statics, and dynamics analyses are performed on the AWIS. Subsequently, the dynamics simulations and controls of the wheeled-vehicle with AWIS on a flat surface, a block of obstacle, and a flight of stair case, are demonstrated, and the results are evaluated. |
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