A Barycenter Control Method for the Bioinspired Forest Chassis Robot on Slope | Zendy

Tingting Sui | Zendy; Jinhao Liu | Zendy; Jianli Wang | Zendy; Jianting Zhang | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

A Barycenter Control Method for the Bioinspired Forest Chassis Robot on Slope

Author(s) -

Tingting Sui,

Jinhao Liu,

Jianli Wang,

Jianting Zhang

Publication year - 2021

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2021/5528746

Subject(s) - chassis , kinematics , computer science , displacement (psychology) , counterweight , mechanism (biology) , control theory (sociology) , matlab , simulation , automotive engineering , control (management) , artificial intelligence , structural engineering , engineering , physics , psychology , classical mechanics , quantum mechanics , psychotherapist , operating system

To improve the stability of forestry chassis on the slope, a chassis-installed barycenter adjustable mechanism (BAM) is designed, and the control method of the counterweight is proposed to make the chassis barycenter move suitably to achieve the design purpose. ,e kinematic analysis of BAM is carried out, and the relationship between the translation, rotation, and vertical displacement of counterweight and the chassis barycenter is calculated. Furthermore, the variation curves obtained in Matlab show the barycenter can translate 100mm, rotate from 0 to 360 degrees, and lower about 180mm in the vertical direction. Adams is adopted to complete the kinematics simulation of the chassis, indicating that the control method can effectively adjust the barycenter position. Finally, experiments are carried out under slope conditions to analyze chassis stability by testing plantar pressure. ,e results show that forest chassis using the barycenter control method helps keep stable on the slope of 15 degrees, much better than standard normal chassis.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research