SIA OpenIR  > 机器人学研究室
Alternative TitleWheelchair Robot Equipped with Variable Geometry Single Tracked Mechanisms
于苏洋; 王挺; 王志东; 王越超; 姚辰; 李小凡
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20133316623529
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60805048)
Keyword轮椅机器人 单节变形履带机构 越障能力 驱动力矩
Other AbstractA wheelchair robot equipped with variable geometry single tracked mechanisms(VGSTMs) is proposed. This mechanism can actively control the track shape and tension to adapt to the obstacles by rotating the two pairs of flippers, so it becomes possible to improve the obstacle clearing capability of the traditional wheelchair. Following a presentation of some typical mechanisms for obstacle clearing, the mechanism scheme and the stair-climbing process of the robot are introduced. With the aim of stair-climbing, the wheelchair robot is translated to a serial manipulator, base on which the geometric model that can describe the position and the track shape of the robot is established, and the optimal solution method of the driving component moment with Lagrange dynamic equations is proposed. In the simulation, the variations of the driving moment during stair-climbing are obtained, and then the design of the driving system and the mechanical structure of the robot are completed with the simulation results. The stair-climbing experiment is performed with the prototype to verify the obstacle clearing capability of the robot.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
于苏洋,王挺,王志东,等. 采用单节变形履带机构的新型轮椅机器人[J]. 机械工程学报,2013,49(13):40-47.
APA 于苏洋,王挺,王志东,王越超,姚辰,&李小凡.(2013).采用单节变形履带机构的新型轮椅机器人.机械工程学报,49(13),40-47.
MLA 于苏洋,et al."采用单节变形履带机构的新型轮椅机器人".机械工程学报 49.13(2013):40-47.
Files in This Item:
File Name/Size DocType Version Access License
采用单节变形履带机构的新型轮椅机器人.p(1004KB) 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[于苏洋]'s Articles
[王挺]'s Articles
[王志东]'s Articles
Baidu academic
Similar articles in Baidu academic
[于苏洋]'s Articles
[王挺]'s Articles
[王志东]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[于苏洋]'s Articles
[王挺]'s Articles
[王志东]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 采用单节变形履带机构的新型轮椅机器人.pdf
Format: Adobe PDF
All comments (0)
No comment.

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