TY - GEN
T1 - Dynamic model of the suspension of a crawler type robot
AU - Solaque, Leonardo Enrique
AU - Jaramillo, Maria Ines
AU - Zamudio, Jhonnatan Eduardo
AU - Patino, Diego Alejandro
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/11
Y1 - 2014/12/11
N2 - This paper describes the mathematical model of the suspension of a robot traction of crawler type, in order to reduce mechanical vibrations caused by operation of the motors and overcoming obstacles in a path. The analysis in reference becomes relevant to the extent that the mechanical vibrations generated damage to the structure and electronic elements in this when the natural frequency of them is reached. The mathematical model of the suspension is based on the Newton-Euler method, which allows to obtain the differential equations conformed by forces and torques acting on the robot in motion. The robot in question, has an additional degree of freedom because the caterpillars are not fixed to 90 degrees, but can have a different angle of opening. As a result of analysis and mathematical model, the constants of elasticity and damping are adjusted so that the system acquires a response, such that the sprung mass has a minor impact on the vibrations generated in the distance covered.
AB - This paper describes the mathematical model of the suspension of a robot traction of crawler type, in order to reduce mechanical vibrations caused by operation of the motors and overcoming obstacles in a path. The analysis in reference becomes relevant to the extent that the mechanical vibrations generated damage to the structure and electronic elements in this when the natural frequency of them is reached. The mathematical model of the suspension is based on the Newton-Euler method, which allows to obtain the differential equations conformed by forces and torques acting on the robot in motion. The robot in question, has an additional degree of freedom because the caterpillars are not fixed to 90 degrees, but can have a different angle of opening. As a result of analysis and mathematical model, the constants of elasticity and damping are adjusted so that the system acquires a response, such that the sprung mass has a minor impact on the vibrations generated in the distance covered.
KW - Dynamic model
KW - Newton-Euler
KW - damping
KW - mechanical vibration
KW - natural frequency
KW - path
UR - https://www.scopus.com/pages/publications/84930995258
U2 - 10.1109/CIIMA.2014.6983473
DO - 10.1109/CIIMA.2014.6983473
M3 - Conference contribution
AN - SCOPUS:84930995258
T3 - 2014 3rd International Congress of Engineering Mechatronics and Automation, CIIMA 2014 - Conference Proceedings
BT - 2014 3rd International Congress of Engineering Mechatronics and Automation, CIIMA 2014 - Conference Proceedings
A2 - Marrugo, Andres G.
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 3rd International Congress of Engineering Mechatronics and Automation, CIIMA 2014
Y2 - 22 October 2014 through 24 October 2014
ER -