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Title: Parameterisation analysis for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on multi-body inverse kinematics

Authors: Shaoyun Ren; Zhurong Dong; Hao Qiu; Zhanyu Li; Ziming Tom Qi

Addresses: School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China ' School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China ' School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China ' School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shahe West Road No. 1089, Nanshan District, Shenzhen, Guangdong Province, China ' School of Architecture Building and Engineering, Otago Polytechnic, Forth Street, Private Bag 1910, Dunedin 9054, New Zealand

Abstract: In this paper, a kinematics model with 14 degrees of freedom (DOF) is built for a four in-wheel-motors drive and four wheels independent steering electric vehicle based on the multi-body dynamics theory and modelling integration method. Considering the slippage control of wheels, the optimal speeds for the individual wheel and the optimal steering angles can be obtained for the desired trajectory through inverse kinematics analysis of the model. A typical case has been simulated and the useful driving parameterisation analysis for the vehicle can be obtained. The results of this paper can provide the basic and standard data for the coordination control among four driven in-wheel-motors and four all wheels independent steering motors according to the desired curve motion and will be validated by future test data results.

Keywords: 4WID-4WIS; kinematic modelling; inverse kinematics; kinematic analysis; simulation; modelling integration; parameterisation analysis; coordination control; four-in-wheel-motor drive; independent steering; electric vehicles; multi-body dynamics.

DOI: 10.1504/IJBBR.2013.058734

International Journal of Biomechatronics and Biomedical Robotics, 2013 Vol.2 No.2/3/4, pp.124 - 134

Available online: 17 Jan 2014 *

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