Research on the correlative stability of a 2 DOF articulated vehicle

A wheeled mobile vehicle with 2 DOF articulated frame (2DWAV) is presented in this paper. This vehicle can improve the rough-terrain mobility and stability by reshaping its articulated frame. The analysis completes about the influence that the stability of single body's worked on the entire frame stability. For the unique 2 DOF articulated frame, we propose the new concept of correlative stability. The kinematical equations which based on the three-dimensional coordinate form the kinematics model of the articulated vehicle system. The correlative stability angle is achieved by using static stability analysis and multi-body kinematics.