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Alternative TitleResearch on obstacle-negotiation performance of a reconfigurable wheel-manipulator robot based on screw's dynamics formulation
胡亚南; 马书根; 李斌; 王明辉; 王越超
Source Publication高技术通讯
Indexed ByCSCD
Contribution Rank1
Funding Organization国家白然科学基金(60905058) 资助项目
Keyword旋量 可重构轮手一体机器人 越障 动力学
Other AbstractTo 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.
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Document Type期刊论文
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GB/T 7714
胡亚南,马书根,李斌,等. 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[J]. 高技术通讯,2013,23(10):1053-1060.
APA 胡亚南,马书根,李斌,王明辉,&王越超.(2013).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.高技术通讯,23(10),1053-1060.
MLA 胡亚南,et al."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".高技术通讯 23.10(2013):1053-1060.
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