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Structure parameter optimization of a variable geometry tracked robot for structured environment
Zhu Y(朱岩); Wang MH(王明辉); Li B(李斌); Wang C(王聪)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1344-1349
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187858
WOS IDWOS:000380502300246
Contribution Rank1
ISSN2379-7711
ISBN978-1-4799-8730-6
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17478
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Zhu Y,Wang MH,Li B,et al. Structure parameter optimization of a variable geometry tracked robot for structured environment[C]. Piscataway, NJ, USA:IEEE,2015:1344-1349.
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