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Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair
Wang T(王挺); Yu SY(于苏洋); Yao C(姚辰); Li XF(李小凡); Wang Z(王忠)
Department机器人学研究室
Conference Name2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
Conference DateDecember 16-18, 2011
Conference PlaceChangchun, China
Source PublicationProceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2011
Pages2170-2173
Indexed ByEI
EI Accession number20122315083044
Contribution Rank1
ISBN978-1-4577-1701-7
KeywordReconfigurable Wheelchair Variable-geometrytracked Mechanism Track Tension Optimization
AbstractTo 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17683
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Liaoning 110016, China
2.Graduate School, Shenyang Institute of Automation, Chinese Academy of Science, Liaoning 110016, China
Recommended Citation
GB/T 7714
Wang T,Yu SY,Yao C,et al. Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair[C]. Piscataway, NJ, USA:IEEE,2011:2170-2173.
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