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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
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
Department机器人学研究室
Source Publication高技术通讯
ISSN1002-0470
2013
Volume23Issue:10Pages:1053-1060
Indexed ByCSCD
CSCD IDCSCD:5052121
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
Abstract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。
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.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14040
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
3.日本立命馆大学理工学部机器人学系
Recommended Citation
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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