Title page for ETD etd-04102006-171127

Type of Document

Thesis

Author

Malhotra, Saurabh

URN

etd-04102006-171127

Title

Simulation of Steering System in Robotics Vehicles

Degree

Master of Science

Department

Mechanical Engineering, Department of

Advisory Committee

Advisor Name	Title
Carl Moore	Committee Member
Juan Carlos Ordonez	Committee Member
Patrick Hollis	Committee Member

Keywords

Mathematical Modelling
Dynamic Simulations

Date of Defense

2006-03-20

Availability

unrestricted

Abstract

Robotic tasks involve a range of steering activities: one application is highway driving with very little turning for hundreds of kilometers; another is steering for military robots which require more flexible turning and maneuvering. Modeling and simulation are more widely used in robotic vehicle engineering to reduce development time, improve the design and to reduce the complexity of the robotic vehicle. This thesis mainly focuses on steering system modeling and simulation. It also reviews different types of steering systems that are used for robotic vehicles and military robotic vehicles such as the XUV. Steering systems that are modeled and simulated are skid steering and four wheel steering. A mathematical model of XUV steering system is developed in Matlab and various simulations are performed using the mathematical model. It is followed by a Matlab simulation of the using a state space representation. Results of the Matlab simulation are compared to the results obtained from an ADAMS simulation of the solid model of the XUV. Then the concept of four wheel steering is introduced for the XUV. A Matlab simulation of this model is done to check the stability of the system. It is followed by vehicle handling characteristics of the XUV for the four-wheel steering system and its Matlab simulation. The results of dynamic motion analysis are discussed for future research.

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