An Experimental Study of an Ultra-Mobile Vehicle for Off-Road Transportation.
Abstract
This report summarizes research accomplished during the fifth six-month period of this three-year project. The research is concerned with the design and construction of an experimental off-road vehicle called the ASV-84. The vehicle concept envisages locomotion without the use of wheels or tracks, but rather employs six active suspension elements, each providing support and propulsion analogously to a biological leg. The report includes test results obtained with a prototype hydraulically-powered vehicle leg making use of an innovative hydrostatic system with one variable displacement pump for each actuator. This system is designed to permit locomotion at a considerably lower energy cost than would be possible with a conventional valve-controlled configuration using pressure-compensated pumps. The report also discusses construction of the vehicle frame and cockpit and initial stages of testing of the vehicle prime mover system. The latter is composed of a 90 hp motorcycle engine modified for stationary operation, and an associated high energy density flywheel intended to smooth power demands on the engine imposed by large fluctuations in hydraulic pressure and flow in the leg control pumps. Electrical system research reported includes validation of the operation of a breadboard version of the vehicle control computer. This computer consists of fifteen intel 86/30 single-board computer systems. A complete listing of a computer program used for validation of algorithms for automatic terrain-following using such data is included in the report.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 1984
- Accession Number
- ADA148174
Entities
People
- K. J. Waldron
- R. B. Mcghee
Organizations
- Ohio State University