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题名: Structure parameter optimization of a variable geometry tracked robot for structured environment
作者: Zhu Y(朱岩); Wang MH(王明辉); Li B(李斌); Wang C(王聪)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期: June 8-12, 2015
会议地点: Shenyang, China
会议录: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1344-1349
收录类别: EI ; CPCI(ISTP)
ISSN号: 2379-7711
ISBN号: 978-1-4799-8730-6
摘要: This paper presents an optimization design method of a variable geometry tracked robot for structured environment. The types and sizes of the obstacles in the structured environment are known. Based on the kinematics analysis of climbing stairs, surmounting pipelines and crossing gullies, the performance functions which display the relationship between structure parameters of the robot and the sizes of obstacles are obtained. Then according to the requirements of overcoming the obstacles in the structured environment, the performance functions are turned into the objective functions, and the goal programming model is obtained. Furthermore, considering the nonlinearity of the model, the pattern search method is applied to obtain the optimization result. Finally, a dynamics simulation platform is set up to verify the performance of the robot, and the feasibility of the parameter optimization method of the robot designed for structured environment is proved.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380502300246
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17478
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Zhu Y,Wang MH,Li B,et al. Structure parameter optimization of a variable geometry tracked robot for structured environment[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.
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