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Alternative TitleShape-shifting Robot Skid-turning with Line Configuration
常健; 吴成东; 李斌
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20122415119990
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
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. 
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Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
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.
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