Abstract:
A modified kinematic model of a shrimp rover is proposed, where passive stability
of the payload platform is achieved. An algorithm based on forward kinematics
moves the rover on a straight and a sinusoidal path. Three different terrain types are
generated in order to configure the platform pitch angle of the rover, Crest, Trough
and a combination of these. The rover passes over these terrains through an
algorithm which keeps the centre of the wheel axis of the rover in contact with the
terrain at all points. The objective function uses reverse kinematics to return the
values of the platform pitch angle, rotation angles and the distance the rover moves
in the vertical axis. In order to analyse and optimize, the values of the platform pitch
angle various combinations of the link lengths are generated with the help of
Taguchi DOE. The Taguchi DOE analysis is then performed on the platform pitch
angle and the best possible kinematic model is generated with minimum pitch angle
of the payload platform. The results are then analysed through motion study in solid
works and the rover payload platform model is fabricated with the minimum pitch
angle for motion in an unstructured terrain.
