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题名: Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair
作者: Wang T(王挺); Yu SY(于苏洋); Yao C(姚辰); Li XF(李小凡); Wang Z(王忠)
作者部门: 机器人学研究室
会议名称: 2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
会议日期: December 16-18, 2011
会议地点: Changchun, China
会议录: Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2011
页码: 2170-2173
收录类别: EI
ISBN号: 978-1-4577-1701-7
关键词: Reconfigurable wheelchair ; variable-geometrytracked mechanism ; track ; tension ; optimization
摘要: To solve the problem of track tension optimization of a reconfigurable wheelchair using variable-geometry-tracked mechanism while stair-negotiating, some fundamental research has been performed. The process of stair negotiation is divided into three phases, then the locomotion and transformation rules for reconfigurable wheelchair are presented. After the parameters affecting track tension have been put forward, the static models for each phase of stair negotiation are established, as well as the optimization results. The Simulation shows the variation of track tension for each phase of stair negotiation. Eventually, the minimal track tension for each phase is obtained. Simulation results provide the foundation for real-time control of track tension for reconfigurable wheelchair while stair-negotiating.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17683
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Wang T,Yu SY,Yao C,et al. Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair[C]. 见:2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011. Changchun, China. December 16-18, 2011.
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文件名: Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair.pdf
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