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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cremerald:10.1108/ir-03-2015-0052 2024-06-09T07:40:13+00:00 Wind-driven land-yacht robot mathematical modeling and verification Chen, Jiqing Xie, Shaorong Luo, Jun Li, Hengyu 2016 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 en eng Emerald https://www.emerald.com/insight/site-policies Industrial Robot: An International Journal volume 43, issue 1, page 77-90 ISSN 0143-991X journal-article 2016 cremerald https://doi.org/10.1108/ir-03-2015-0052 2024-05-15T13:20:19Z 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. Article in Journal/Newspaper Antarc* Antarctic Emerald Antarctic The Antarctic Industrial Robot: An International Journal 43 1 77 90 |
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English |
description |
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. |
format |
Article in Journal/Newspaper |
author |
Chen, Jiqing Xie, Shaorong Luo, Jun Li, Hengyu |
spellingShingle |
Chen, Jiqing Xie, Shaorong Luo, Jun Li, Hengyu Wind-driven land-yacht robot mathematical modeling and verification |
author_facet |
Chen, Jiqing Xie, Shaorong Luo, Jun Li, Hengyu |
author_sort |
Chen, Jiqing |
title |
Wind-driven land-yacht robot mathematical modeling and verification |
title_short |
Wind-driven land-yacht robot mathematical modeling and verification |
title_full |
Wind-driven land-yacht robot mathematical modeling and verification |
title_fullStr |
Wind-driven land-yacht robot mathematical modeling and verification |
title_full_unstemmed |
Wind-driven land-yacht robot mathematical modeling and verification |
title_sort |
wind-driven land-yacht robot mathematical modeling and verification |
publisher |
Emerald |
publishDate |
2016 |
url |
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 |
geographic |
Antarctic The Antarctic |
geographic_facet |
Antarctic The Antarctic |
genre |
Antarc* Antarctic |
genre_facet |
Antarc* Antarctic |
op_source |
Industrial Robot: An International Journal volume 43, issue 1, page 77-90 ISSN 0143-991X |
op_rights |
https://www.emerald.com/insight/site-policies |
op_doi |
https://doi.org/10.1108/ir-03-2015-0052 |
container_title |
Industrial Robot: An International Journal |
container_volume |
43 |
container_issue |
1 |
container_start_page |
77 |
op_container_end_page |
90 |
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1801383668956004352 |