2026-09-23T13:42:29Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/96112021-07-05T14:03:20Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Steven Dubowsky.
Hacot, Hervé, 1974-
Massachusetts Institute of Technology. Department of Mechanical Engineering
2005-08-19T18:54:59Z
2005-08-19T18:54:59Z
1998
1998
http://hdl.handle.net/1721.1/9611
42251055
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.
Includes bibliographical references (leaves 86-90).
Robotic 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.
by Hervé Hacot.
S.M.
110 leaves
6793263 bytes
6793022 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering
Analysis and traction control of a rocker-bogie planetary rover
Thesis
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