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Table Of Contents

1.1.1 Definition of Mobile Robot
1.1.2 Locomotion
1.2.1 Lunakhod
1.2.2 Sojourner
1.2.3 Inflatable Rover
1.2.4 Rocky 7
1.2.5 Sample Return Rover
1.2.6 Nanorover
1.2.7 Micro5
1.2.8 Shrimp
1.2.9 Mars Exploration Rovers (MER)
1.3 Rover Operations and Future Requirements
2.1 Suspension
2.2 Obstacle Capacity
2.3 Wheel Forces
2.4 Rocker-Bogie Suspension
2.5 Wheel Motion
2.6 Advantage of Linear Motion
3.1 Chebyshev Mechanism
3.2 Watt’s Linkage
3.3 Robert’s Linkage
3.4 Chebyshev’s Lambda Mechanism (Hoeken Mechanism)
4.1.1 Mobility Analysis
4.1.2 Structural Synthesis Formula for Lower and Higher Kinematic Pairs
4.1.3 Structural Groups
4.1.4 Closed Chain Construction with Structural Groups
4.2.1 Design Parameters Selection
4.2.2 Geometric Trajectory of Lambda Mechanism
4.2.3.1 First Singularity
4.2.3.2 Second Singularity
4.2.4 Double-Lambda Mechanism Connection
4.2.5 Adaptation of Double-Lambda Mechanism into Rocker-Bogie
4.2.6 Mobility Analysis of LBS Mechanism
4.2.7 Various Design Possibilities with Linear Motion Bogie
5.1.1 Vector Loop Equations
5.1.2 Angular Relations
5.1.3 Coupler Curve Function
5.2.1 Singular Configurations Relative to α
5.2.2 Singular Configurations Relative to θ
5.3 Symmetric Side Inverse Position Analysis
5.4 Singular Positions of Double-Lambda Bogie Mechanism
6.1 Wheel Reaction Forces
6.2.1 Down-Hill Gradeability
6.2.2 Cross-hill Gradeability
7.1 Second Order Lagrange Equation
7.2 Motion of Rover Suspension Mechanism
7.3 Equation of Motion of Linkage Mechanism with Three Degrees of
8.1.1 Hill Climbing
8.1.2 Step Climbing
8.2 Evaluation of Test Results
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mechanismspirit

mechanismspirit

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Published by: ömür Içke on Feb 26, 2011
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01/13/2013

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