Wind-driven land-yacht robot mathematical modeling and verification
Purpose – The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel land-yacht. Land-yacht is a new kind of mobile robot powered by the wind using a sail. The mathematical model an...
| Published in: | Industrial Robot: An International Journal |
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| Main Authors: | , , , |
| Format: | Article in Journal/Newspaper |
| Language: | English |
| Published: |
Emerald
2016
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| Subjects: | |
| Online Access: | http://dx.doi.org/10.1108/ir-03-2015-0052 http://www.emeraldinsight.com/doi/full-xml/10.1108/IR-03-2015-0052 https://www.emerald.com/insight/content/doi/10.1108/IR-03-2015-0052/full/xml https://www.emerald.com/insight/content/doi/10.1108/IR-03-2015-0052/full/html |
| Summary: | Purpose – The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel land-yacht. Land-yacht is a new kind of mobile robot powered by the wind using a sail. The mathematical model and trajectory of the land-yacht are presented in this paper. Design/methodology/approach – The mechanism analysis method and experimental modeling method are used to establish a dual-input and dual-output mathematical model for the motion of land-yacht. First, the land-yacht’s model structure is obtained by using mechanism analysis. Then, the models of steering gear, servomotors and force of wing sail are analyzed and validated. Finally, the motion of land-yacht is simulated according to the mathematical model. Findings – The mathematical model is used to analyze linear motion and steering motion. Compared with the simulation results and the actual experimental tests, the feasibility and reliability of the proposed land-yacht modeling are verified. It can travel according to the given signal. Practical implications – This land-yacht can be used in the Antarctic, outer planet or for harsh environment exploration. Originality/value – A land-yacht is designed, and the contribution of this research is the development of a mathematical model for land-yacht robot. It provides a theoretical basis for analysis of the land-yacht’s motion. |
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