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ORIGINAL DESIGN OF A WHEELCHAIR ROBOT EQUIPPED WITH VARIABLE GEOMETRY SINGLE TRACKED MECHANISMS
Yu SY(于苏洋); Wang T(王挺); Wang ZD(王志东); Wang YC(王越超); Yao C(姚辰); Li XF(李小凡)
作者部门机器人学研究室
关键词Wheelchair Robot Variable Geometry Single Tracked Mechanism (Vgstm) Obstacle Clearing Ability Driving Moment Tip-over And Slippage Stability Criterion
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION
ISSN0826-8185
2015
卷号30期号:1页码:87-97
收录类别SCI ; EI
EI收录号20151300675471
WOS记录号WOS:000349599300009
产权排序1
摘要This paper introduces an originally designed wheelchair robot equipped a variable geometry single tracked mechanism (VGSTM). This mechanism can actively control the robot shape and track tension to adapt for obstacles by two pairs of flippers, so the obstacle clearing ability of traditional wheelchairs can be improved. With the aim of stair-climbing, an optimal solution method of driving moments is proposed to guide the robot design; a tip-over and slippage stability criterion is established to evaluate the robot performance. Finally, the prototype is built, and the stair-climbing experiment is carried out to verify the obstacle clearing ability of the robot.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Robotics
关键词[WOS]VEHICLE
WOS研究方向Automation & Control Systems ; Robotics
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15746
专题机器人学研究室
通讯作者Yu SY(于苏洋)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan
3.School of Mechanical Engineering, Shenyang Aerospace University, Shenyang, China
推荐引用方式
GB/T 7714
Yu SY,Wang T,Wang ZD,et al. ORIGINAL DESIGN OF A WHEELCHAIR ROBOT EQUIPPED WITH VARIABLE GEOMETRY SINGLE TRACKED MECHANISMS[J]. INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION,2015,30(1):87-97.
APA Yu SY,Wang T,Wang ZD,Wang YC,Yao C,&Li XF.(2015).ORIGINAL DESIGN OF A WHEELCHAIR ROBOT EQUIPPED WITH VARIABLE GEOMETRY SINGLE TRACKED MECHANISMS.INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION,30(1),87-97.
MLA Yu SY,et al."ORIGINAL DESIGN OF A WHEELCHAIR ROBOT EQUIPPED WITH VARIABLE GEOMETRY SINGLE TRACKED MECHANISMS".INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION 30.1(2015):87-97.
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