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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)
Department机器人学研究室
Conference Name2010 2nd International Conference on Computer Engineering and Technology, ICCET 2010
Conference DateApril 16-18, 2010
Conference PlaceChengdu, China
Source PublicationICCET 2010 - 2010 International Conference on Computer Engineering and Technology, Proceedings
PublisherIEEE Computer Society
Publication PlacePiscataway, USA
2010
PagesV174-V179
Indexed ByEI
EI Accession number20104313316674
Contribution Rank2
ISBN978-1-4244-6350-3
KeywordSoftware Prototyping Wheels
AbstractSimulation 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. 
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10415
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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