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Content Provider | IET Digital Library |
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Author | Wu, Hang Xiong, Hui Du, Weitao Yang, Xiaodong Xu, Zhiliang Yang, Qifan Shao, Yimin |
Abstract | Wheeled skid-steered vehicles have the advantages of compact structure, small steering radius and wide application. However, poor steering performance is an important limitation restricting the development of wheeled skid-steered vehicles. A kinematic model for analysing the relationship between wheels’ rotation speed and the motion state of the vehicles’ mass centre based on Newton's second law was established, then the correctness of the kinematic model was verified by comparing the calculation results with simulation results. The key design perimeters affecting the steering performance were analysed by a control-variable method based on the established kinematic model. The results indicate that the established kinematic model can evaluate the steering performance of skid-steered vehicles correctly and can provide a reference for optimising the design of the vehicles. |
Starting Page | 1015 |
Ending Page | 1019 |
Page Count | 5 |
Volume Number | 2020 |
e-ISSN | 20513305 |
Issue Number | Issue 14, Nov (2020) |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/joe/2020/14 |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/joe.2020.0065 |
Journal | The Journal of Engineering |
Publisher | The Institution of Engineering and Technology |
Publisher Date | 2020-08-11 |
Access Restriction | Open |
Rights License | Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/) |
Subject Keyword | Control Technology And Theory Established Kinematic Model Mechanical Component Mobile Robots Poor Steering Performance Road Vehicle Robot And Manipulator Mechanics Robot Kinematics Skid-steered Vehicle Spatial Variables Control Steering Radius Steering System Tracked Vehicle Vehicle Dynamics Vehicle Mechanics Wheels |
Content Type | Text |
Resource Type | Article |
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