Optimal Design of Single-Mode Power-Split Hybrid Tracked Vehicles

2018 ◽  
Vol 140 (10) ◽  
Author(s):  
Zhaobo Qin ◽  
Yugong Luo ◽  
Keqiang Li ◽  
Huei Peng
Keyword(s):  
Optimal Design ◽  
Degrees Of Freedom ◽  
Single Mode ◽  
Topology Design ◽  
Hybrid Powertrain ◽  
Tracked Vehicles ◽  
Power Split ◽  
Skid Steering ◽  
Design Selection ◽  
Low Efficiency

Hybrid tracked vehicles are common in construction, agriculture, and military applications. Most use a series hybrid powertrain with large motors and operate at a relatively low efficiency. Although some researchers have proposed power-split powertrains, most of these would require an additional mechanism to achieve skid steering. To solve this problem and enhance drivability, a single-mode power-split hybrid powertrain for tracked vehicles with two outputs connected to the left and right tracks is proposed. The powertrain with three planetary gears (PGs) would then be able to control the torque on the two tracks independently and achieve skid steering. This powertrain has three degrees-of-freedom (DOF), allowing for control of the output torques and the engine speed independently from the vehicle running speed. All design candidates with three PGs are exhaustively searched by analyzing the dynamic characteristics and control to obtain the optimal design. Efficient topology design selection with parameter sizing and component sizing is accomplished using the enhanced progressive iteration approach to achieve better fuel economy using downsized components.

A Novel Three-Planetary-Gear Power-Split Hybrid Powertrain for Tracked Vehicles

2018 ◽  
Author(s):  
Zhaobo Qin ◽  
Yugong Luo ◽  
Zhong Cao ◽  
Keqiang Li
Keyword(s):  
Planetary Gear ◽  
Hybrid Powertrain ◽  
Tracked Vehicles ◽  
Power Split

Optimal design of power-split hybrid tracked vehicles using two planetary gears

2018 ◽  
Vol 77 (1/2) ◽  
pp. 43
Author(s):  
Zhaobo Qin ◽  
Yugong Luo ◽  
Keqiang Li ◽  
Ziheng Pan ◽  
Huei Peng
Keyword(s):  
Optimal Design ◽  
Planetary Gears ◽  
Tracked Vehicles ◽  
Power Split

scholarly journals Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Machines ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 38
Author(s):  
Antonio Tota ◽  
Enrico Galvagno ◽  
Mauro Velardocchia
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Analytical Study ◽  
Proportional Integral Derivative ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Side Slope ◽  
Skid Steering ◽  
And Control

Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding any trust adjustment between the outside and inside tracks. This paper focuses on the analysis and control of an articulated tracked vehicle characterized by two units connected through a mechanical multiaxial joint that is hydraulically actuated to allow the articulated steering operation. A realistic eight degrees of freedom mathematical model is introduced to include the main nonlinearities involved in the articulated steering behavior. A linearized vehicle model is further proposed to analytically characterize the cornering steady-state and transient behaviors for small lateral accelerations. Finally, a hitch angle controller is designed by proposing a torque-based and a speed-based Proportional Integral Derivative (PID) logics. The controller is also verified by simulating maneuvers typically adopted for handling analysis.

Optimal design of power-split hybrid tracked vehicles using two planetary gears

2018 ◽  
Vol 77 (1/2) ◽  
pp. 43
Author(s):  
Ziheng Pan ◽  
Huei Peng ◽  
Zhaobo Qin ◽  
Yugong Luo ◽  
Keqiang Li
Keyword(s):  
Optimal Design ◽  
Planetary Gears ◽  
Tracked Vehicles ◽  
Power Split

Configuration Robustness Analysis of the Optimal Design of Cable-Driven Manipulators

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Joshua T. Bryson ◽  
Xin Jin ◽  
Sunil K. Agrawal
Keyword(s):  
Optimal Design ◽  
Stochastic Optimization ◽  
High Dimension ◽  
Degrees Of Freedom ◽  
Robustness Analysis ◽  
Optimal Solution ◽  
Design Parameters ◽  
Robot Leg ◽  
Robot Performance

Designing an effective cable architecture for a cable-driven robot becomes challenging as the number of cables and degrees of freedom of the robot increase. A methodology has been previously developed to identify the optimal design of a cable-driven robot for a given task using stochastic optimization. This approach is effective in providing an optimal solution for robots with high-dimension design spaces, but does not provide insights into the robustness of the optimal solution to errors in the configuration parameters that arise in the implementation of a design. In this work, a methodology is developed to analyze the robustness of the performance of an optimal design to changes in the configuration parameters. This robustness analysis can be used to inform the implementation of the optimal design into a robot while taking into account the precision and tolerances of the implementation. An optimized cable-driven robot leg is used as a motivating example to illustrate the application of the configuration robustness analysis. Following the methodology, the effect on robot performance due to design variations is analyzed, and a modified design is developed which minimizes the potential performance degradations due to implementation errors in the design parameters. A robot leg is constructed and is used to validate the robustness analysis by demonstrating the predicted effects of variations in the design parameters on the performance of the robot.

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

Integrated Redesign of Large-Scale Structures by Large Admissible Perturbations

2003 ◽  
Vol 125 (4) ◽  
pp. 234-241 ◽  
Author(s):  
Vincent Y. Blouin ◽  
Michael M. Bernitsas ◽  
Denby Morrison
Keyword(s):  
Degrees Of Freedom ◽  
Large Scale ◽  
Direct Method ◽  
Computational Effort ◽  
Forced Response ◽  
Response Amplitude ◽  
Computational Time ◽  
Performance Constraints ◽  
Large Admissible Perturbations ◽  
Design Selection

In structural redesign (inverse design), selection of the number and type of performance constraints is a major challenge. This issue is directly related to the computational effort and, most importantly, to the success of the optimization solver in finding a solution. These issues are the focus of this paper, which provides and discusses techniques that can help designers formulate a well-posed integrated complex redesign problem. LargE Admissible Perturbations (LEAP) is a general methodology, which solves redesign problems of complex structures with, among others, free vibration, static deformation, and forced response amplitude constraints. The existing algorithm, referred to as the Incremental Method is improved in this paper for problems with static and forced response amplitude constraints. This new algorithm, referred to as the Direct Method, offers comparable level of accuracy for less computational time and provides robustness in solving large-scale redesign problems in the presence of damping, nonstructural mass, and fluid-structure interaction effects. Common redesign problems include several natural frequency constraints and forced response amplitude constraints at various frequencies of excitation. Several locations on the structure and degrees of freedom can be constrained simultaneously. The designer must exercise judgment and physical intuition to limit the number of constraints and consequently the computational time. Strategies and guidelines are discussed. Such techniques are presented and applied to a 2,694 degree of freedom offshore tower.

Design of a Four Legged Parallel Mechanism to Improve the Dexterity of Walking Robot

2009 ◽  
Author(s):  
ChiHyo Kim ◽  
KunWoo Park ◽  
TaeSung Kim ◽  
MinKi Lee
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Topology Design ◽  
Condition Numbers ◽  
Walking Robots ◽  
Rough Terrain ◽  
Parallel Mechanisms ◽  
Walking Robot ◽  
Intermediate Mechanism

This paper designs a four legged parallel mechanism to improve the dexterity of three layered parallel walking robot. Topology design is conducted for a leg mechanism composed of four legs, base and ground, which constitute a redundant parallel mechanism. This mechanism is subdivided into four sub-mechanism composed of three legs. A motor vector is adopted to determine the 6×8 Jacobian of the redundant parallel mechanism and the 6×6 Jacobian of the sub-mechanisms, respectively. The condition number of the Jacobian matrix is used as an index to measure a dexterity. We analyze the condition numbers of the Jacobian over the positional and orientational walking space. The analytical results show that a sub-mechanism has lots of singularities within workspace but they are removed by a redundant parallel mechanism improving the dexterity. This paper presents a parallel typed walking robot to enlarge walking space and stability region. Seven types of three layered walking robots are designed by inserting an intermediate mechanism between the upper and the lower legged parallel mechanisms. They provide various types of gaits to walk rough terrain and climb over a wall with small degrees of freedom.

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