Show simple item record

dc.contributor.advisorSteven Dubowsky.en_US
dc.contributor.authorHacot, Hervé, 1974-en_US
dc.date.accessioned2005-08-19T18:54:59Z
dc.date.available2005-08-19T18:54:59Z
dc.date.copyright1998en_US
dc.date.issued1998en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/9611
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.en_US
dc.descriptionIncludes bibliographical references (leaves 86-90).en_US
dc.description.abstractRobotic rovers have become important tools in planetary exploration. Future missions require improved rover performance. This thesis presents an analysis of a six-wheeled prototype rover. Its design is based on the rocker­bogie configuration. A procedure is presented which can rapidly compute the configuration of the rover as a function of its environment. Also, a quasi-static force analysis of the system is detailed. It considers realistic physical constraints such as wheel slip and actuator saturation. A computer simulation with a graphic interface is developed to evaluate performance and enhance the understanding of the system. The analysis leads to the design of a fuzzy logic controller that increases rover traction and mobility. Analytical and experimental studies are performed to validate the analysis and control scheme.en_US
dc.description.statementofresponsibilityby Hervé Hacot.en_US
dc.format.extent110 leavesen_US
dc.format.extent6793263 bytes
dc.format.extent6793022 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/pdf
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582
dc.subjectMechanical Engineeringen_US
dc.titleAnalysis and traction control of a rocker-bogie planetary roveren_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.identifier.oclc42251055en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record