中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 期刊论文
题名: 基于旋量动力学建模的可重构轮手一体机器人越障性能研究
其他题名: Research on obstacle-negotiation performance of a reconfigurable wheel-manipulator robot based on screw's dynamics formulation
作者: 胡亚南 ; 马书根 ; 李斌 ; 王明辉 ; 王越超
作者部门: 机器人学研究室
关键词: 旋量 ; 可重构轮手一体机器人 ; 越障 ; 动力学
刊名: 高技术通讯
ISSN号: 1002-0470
出版日期: 2013
卷号: 23, 期号:10, 页码:1053-1060
收录类别: CSCD
产权排序: 1
摘要: 为研究可重构轮手一体机器人的越障性能,描述了机器人轮手复合越障过程,基于旋量理论建立了单模块可重构轮手一体移动机器人翻越台阶型障碍的动力学模型.对影响机器人电机力矩的三个因素——台阶高度、手臂长度和机器人运动参数进行了仿真,对越障过程中的稳定性进行了分析,得到了机器人的稳定工作域,最后通过实验得到机器人极限越障高度,为机器人结构的优化和越障性能的提升提供了理论依据。
英文摘要: To study the obstacle negotiation capacity of reconfigurable wheel-manipulator robots, the combined wheel-manipulator obstacle negotiation process was described, and based on the screw theory, the dynamic formulation of stair-climbing on a slope for reconfigurable wheel-manipulator robots was established by using the virtual mechanism method. Because of the diversity of configuration and the flexibility of motion, the dynamic formulation using conventional approaches is complex, moreover, it is difficult to expansion to multiple modules. Whereas adopting the screw theory, concise and unified description of complex mechanisms can be derived , and the Jacobian matrix is easily obtained by exponential product formula. Three factors affecting the motor torque mainly , such as stair height, arm length and kinematic parameters, were simulated, and the stability in the obstacle-negotiation process was analyzed and the result of stable working range was obtained. The maximum stair-height that the robot can negotiate was achieved by simulation and experiment.
语种: 中文
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14040
Appears in Collections:机器人学研究室_期刊论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
基于旋量动力学建模的可重构轮手一体机器人越障性能研究.pdf(2779KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[胡亚南]'s Articles
[马书根]'s Articles
[李斌]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[胡亚南]‘s Articles
[马书根]‘s Articles
[李斌]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: 基于旋量动力学建模的可重构轮手一体机器人越障性能研究.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

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

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace