TY - GEN
T1 - Dynamic modeling of four-wheel full-suspension vehicle
AU - Yeşsiloǧlu, S. Murat
AU - Temeltaş, Hakan
PY - 2006
Y1 - 2006
N2 - This paper presents an analytical dynamic model of a four-wheel full-suspension vehicle using 24 independent dof. The methodology presented herein is capable of simulating vehicle dynamics on any terrain so long as it is smooth enough that tires can remain in contact. Given the steering torque, driving torque and terrain structure, the forward dynamics problem is solved to obtain velocities, accelerations, forces and torques of all joints. Among these, contact forces between tires and the road play a crucial role in designing an early sensory feedback system of imminent vehicle roll-over.
AB - This paper presents an analytical dynamic model of a four-wheel full-suspension vehicle using 24 independent dof. The methodology presented herein is capable of simulating vehicle dynamics on any terrain so long as it is smooth enough that tires can remain in contact. Given the steering torque, driving torque and terrain structure, the forward dynamics problem is solved to obtain velocities, accelerations, forces and torques of all joints. Among these, contact forces between tires and the road play a crucial role in designing an early sensory feedback system of imminent vehicle roll-over.
KW - Cooperating manipulators
KW - Order of N dynamics
KW - Vehicle dynamics
UR - http://www.scopus.com/inward/record.url?scp=80051580049&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80051580049
SN - 9783902661166
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - 8th International IFAC Symposium on Robot Control, SYROCO 2006
T2 - 8th International IFAC Symposium on Robot Control, SYROCO 2006
Y2 - 6 September 2006 through 8 September 2006
ER -