Article: Current collector for heavy vehicles on electrified roads: kinematic analysis Journal: International Journal of Electric and Hybrid Vehicles (IJEHV) 2014 Vol.6 No.4 pp.277 - 297 Abstract: We present a prototype of a novel current collector manipulator to be mounted beneath a heavy vehicle to collect electric power from road embedded power lines. We describe the concept of the ground-level power supply system for heavy vehicles and its main components. The main requirements and constraints, such as safety, robustness to harsh road and weather operational conditions, ambient environment aspects and dynamic properties, are introduced. The emphasis is on the developed kinematic model, which provides the base for further development of the control system. We propose and derive an alternative approach for representing the inverse kinematics by a two-dimensional polynomial approximation that avoids the usage of complicated non-linear equations. It's simplicity is demonstrated by a numerical example with the basic parameters of the prototype. The basic motion sequences of the current collector and the way to control them are outlined. Inderscience Publishers - linking academia, business and industry through research

Title: Current collector for heavy vehicles on electrified roads: kinematic analysis

Authors: Mohamad Aldammad; Anani Ananiev; Ivan Kalaykov

Addresses: Center for Applied Autonomous Sensor Systems (AASS), School of Science and Technology, Örebro University, 70182 Örebro, Sweden ' Center for Applied Autonomous Sensor Systems (AASS), School of Science and Technology, Örebro University, 70182 Örebro, Sweden ' Center for Applied Autonomous Sensor Systems (AASS), School of Science and Technology, Örebro University, 70182 Örebro, Sweden

Abstract: We present a prototype of a novel current collector manipulator to be mounted beneath a heavy vehicle to collect electric power from road embedded power lines. We describe the concept of the ground-level power supply system for heavy vehicles and its main components. The main requirements and constraints, such as safety, robustness to harsh road and weather operational conditions, ambient environment aspects and dynamic properties, are introduced. The emphasis is on the developed kinematic model, which provides the base for further development of the control system. We propose and derive an alternative approach for representing the inverse kinematics by a two-dimensional polynomial approximation that avoids the usage of complicated non-linear equations. It's simplicity is demonstrated by a numerical example with the basic parameters of the prototype. The basic motion sequences of the current collector and the way to control them are outlined.

Keywords: current collector; electrified roads; hybrid vehicles; HEVs; hybrid electric vehicles; ground-level power supply; 2DOF manipulators; kinematic modelling; heavy vehicles; road embedded power lines; inverse kinematics; motion control.

DOI: 10.1504/IJEHV.2014.067602

International Journal of Electric and Hybrid Vehicles, 2014 Vol.6 No.4, pp.277 - 297

Received: 19 May 2014
Accepted: 09 Jul 2014
Published online: 22 Feb 2015 *

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Title: Current collector for heavy vehicles on electrified roads: kinematic analysis

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