SIA OpenIR  > 机器人学研究室
可变形机器人直线构型滑移转向方法
Alternative TitleShape-shifting Robot Skid-turning with Line Configuration
常健; 吴成东; 李斌
Department机器人学研究室
Source Publication机械工程学报
ISSN0577-6686
2012
Volume48Issue:7Pages:9-15
Indexed ByEI ; CSCD
EI Accession number20122415119990
CSCD IDCSCD:4511957
Contribution Rank1
Funding Organization国家高技术研究发展计划(863计划,2007AA041502); 国家自然科学基金(60705029); 辽宁省博士启动基金; 中科院沈阳自动化研究所机器人国家重点实验室开放课题(RLO200801)资助项目
Keyword变形 模块化机器人 滑移转向
Abstract可变形机器人AMOEBA-I能够利用其直线构型通过狭小的废墟空间,但是在此构型下难以进行转向,转向半径极大,并且机器人进行转向时,连接杆受到较大的阻力矩,使其使用条件受到限制。为减小转向半径、转向时间及转向阻力矩,提高机器人对复杂环境的适应性,提出一种可变形机器人能够快速有效转向的方法。研究机器人滑移转向前的变形过程并建立滑移转向的数学模型,分析机器人三个模块在转向过程中运动和力学特性,得出地面转向阻力矩及机器人所需驱动力的大小,完成机器人的滑移转向理论基础。给出评价机器人转向优劣的指标。通过试验分析,机器人在进行滑移转向时,驱动电流没有超出电动机额定值,机器人转向过程较链式转向快速平稳,结果验证机器人滑移转向的有效性和可实施性。
Other AbstractShape-shifting robot AMOEBA-I has the ability to pass the narrow and small ruins with the line configuration,but there are many restricts in use such as hard turning,large turning radius,and the connecting link between module 2 and module 3 is large resistance moment.In order to reduce the turning radius,the time of turning,the moment of resistance and enhance the compatibility of complex environment of the robot,a method is proposed that can make the robot to turn quickly and more effectively.Through the research of the process of the robot shape-shifting before it skid-turns and the establishment of mathematical model,the kinematics and mechanical properties of three modules are analyzed,and the resistance moment and the driving force is obtained.The theoretical basis of the shape-shifting robot skid-turning is computed and the evaluation criterion is proposed for the performance of robot turning.By the analysis of experiment,the drive current of the motor does not exceed the limit load of the motor and it is more quick and smooth comparing to the link-turning.The validity and enforceability of the turning is proved by simulations and experiments. 
Language中文
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10004
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
3.东北大学信息科学与工程学院
Recommended Citation
GB/T 7714
常健,吴成东,李斌. 可变形机器人直线构型滑移转向方法[J]. 机械工程学报,2012,48(7):9-15.
APA 常健,吴成东,&李斌.(2012).可变形机器人直线构型滑移转向方法.机械工程学报,48(7),9-15.
MLA 常健,et al."可变形机器人直线构型滑移转向方法".机械工程学报 48.7(2012):9-15.
Files in This Item: Download All
File Name/Size DocType Version Access License
可变形机器人直线构型滑移转向方法.pdf(583KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[常健]'s Articles
[吴成东]'s Articles
[李斌]'s Articles
Baidu academic
Similar articles in Baidu academic
[常健]'s Articles
[吴成东]'s Articles
[李斌]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[常健]'s Articles
[吴成东]'s Articles
[李斌]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 可变形机器人直线构型滑移转向方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.