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Obstacle-climbing performance simulation analysis of wheel-legged rover
Wang YM(汪永明); Yu XL(余晓流); Chi RH(迟荣海); Tang WC(汤文成)
作者部门机器人学研究室
会议名称2010 2nd International Conference on Computer Engineering and Technology, ICCET 2010
会议日期April 16-18, 2010
会议地点Chengdu, China
会议录名称ICCET 2010 - 2010 International Conference on Computer Engineering and Technology, Proceedings
出版者IEEE Computer Society
出版地Piscataway, USA
2010
页码V174-V179
收录类别EI
EI收录号20104313316674
产权排序2
ISBN号978-1-4244-6350-3
关键词Software Prototyping Wheels
摘要Simulation technology based on the virtual prototype helps to design the physical prototype and optimize its structure. Taking a double-half-revolution wheel-legged rover as research object, this paper established its simplified three dimensional entity model in SolidWorks software, then imported it into ADAMS software and obtained its virtual prototype model by setting their movement coupling relationship among the rods of the wheel-legged mechanism and defining their 3D collision attributes between the striding rods and the ground. Given the angular velocity of the driving motors, obstacle-climbing capability simulations were done, including climbing the slope obstacle and vertical obstacle. And the displacement, velocity and acceleration curves of rover body centroid were obtained, and the contact forces between the striding rods and the ground were also simulated. Simulation results show that the rover has strong obstacle-climbing performance. 
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10415
专题机器人学研究室
作者单位1.School of Mechanical Engineering, University of Technology, Maanshan, China
2.School of Mechanical Engineering, Utheast University, Nejing, China
3.State Key Laboratory of Robotics, Shenyang, China
推荐引用方式
GB/T 7714
Wang YM,Yu XL,Chi RH,et al. Obstacle-climbing performance simulation analysis of wheel-legged rover[C]. Piscataway, USA:IEEE Computer Society,2010:V174-V179.
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