Tetrahedral Mechanism Crawling on a Slope
نویسندگان
چکیده
Crawling mechanisms with energetic and control autonomy may move and steer by sliding on the ground. The paper presents an analytic and MBS simulation study on the possibilities and limits of steering a tetrahedral mechanism on a slope. The mechanism movement is analyzed using an equivalent 3d model. The analysis is structural, kinematical, static and dynamic. The limit conditions for stability on the slope, tilting, and maximal path curvature are defined. Some possible strategies of moving to a point are proposed.
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تاریخ انتشار 2015