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Mobile Robots book 2011 Part 3

Tham khảo tài liệu 'mobile robots book 2011 part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A Field Robot with Rotated-claw Wheels 41 retracted inside the wheel body Now the rotated-claw wheel is the same as conventional circular wheel . It shows that the acceleration varies from -0.13g to 0.13g. Compare Figure 13 with Figure 14 we can see that stability of the rotated-claw wheel under the condition of retracted claws is similar to that of conventional circular wheel. Fig. 12. Plumb direction acceleration curve of Rabbit when the rotated-claw wheels make clockwise rotation on bituminous macadam ground Fig. 13. Plumb direction acceleration curve of Rabbit when the rotated-claw wheels make anticlockwise rotation on bituminous macadam ground Fig. 14. Plumb direction acceleration curve of Rabbit when the rotated-claw wheels rotate with retracted claws on bituminous macadam ground It is obvious that the motion stability under anticlockwise rotation is more stable than that under clockwise rotation. The reason is that the claw can swing into the wheel body under anticlockwise rotation while the hexagon effect causes the bumpiness under clockwise rotation. So the Rabbit should be commanded to move in a backward mode i.e. all the wheels rotate in anticlockwise direction on flat hard ground. 42 Mobile Robots - State of the Art in Land Sea Air and Collaborative Missions 4.2 Performance of climbing obstacles 4.2.1 Dry soil terrain In order to test Rabbit s motion performance on dry soil terrain with multi-obstacle we did another experiment as shown in Figure 15. Figure 16 shows the acceleration curve of Rabbit in plumb direction that denotes the acceleration varying from -0.125g to 0.125g. Figure 17 gives the acceleration curve of Rabbit in plumb direction on dry soil when the wheels rotate in clockwise direction. It shows that the acceleration varies from -0.10g to 0.10g. Figure 18 gives the acceleration curve of Rabbit in plumb direction on dry soil when the Rabbit moves under the condition of retracted claws which shows the acceleration varies from -0.10g to .