THEORETICAL RESEARCH ON GEOMETRIC AND KINEMATIC ANALYSIS DEVELOPED ON AN INNOVATIVE TECHNOLOGICAL PRODUCT, THE 8x8 LAND VEHICLE

Cristian CUCUTEANU, Lucian-Ștefăniță GRIGORE, Amado ȘTEFAN, Octavian ALEXA, Dan POPA, Andrei SMARANDA, Eliza MARIN

Abstract


This paper studies the kinematics of an 8x8 skid-steering robotic vehicle with all-wheel drive. Each wheel is a driving wheel and without suspension, the power distribution is done by changing the supply voltage of the two electric motors, related to each wheel line. The robot has an energy system with a nominal voltage of 96V. The main objective is to create a collaborative robot system for logistics missions. For the first stage of development, we aim to determine the behavior when making a turn in the skid-steering situation, the wheels are not steered. The turn is performed by changing the speed of each wheel separately by changing the supply voltage of the motors. For this study, the robotic platform was created by converting an 8x8 land vehicle with mechanical transmission into one with electric transmission. This allowed the simulation of operating conditions based on a real operating situation. At this stage of the robot's development, we described the analytical operating system in order to be able to move on to the finalization of the technological demonstrator.

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References


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