Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 12, issue 1
Articles | Volume 12, issue 1
https://doi.org/10.5194/ms-12-511-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-12-511-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 12, issue 1
Research article
 | 
18 May 2021
Research article |  | 18 May 2021

Center-point steering analysis of tracked omni-vehicles based on skid conditions

Yuan Fang, Yunan Zhang, Yinghui Shang, Tao Huang, and Mengfei Yan

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Short summary
The center-point steering theory of a traditional tracked vehicle cannot be directly applied to a tracked omni-robot. In this study, for the three typical layout types, rectangular, hybrid, and centripetal, the steady center-point steering motion of a tracked omni-vehicle under skid conditions is analyzed and a correction model is investigated. The correction model can correct the angular velocity and time of the vehicle, as well as give the relationship between the design parameters.
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