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单向被动轮接触机构蛇形机器人的设计
Alternative TitleDesign of a snake-like robot with UPW contacting mechanism
卢振利; 刘超; 孙凯翔; 冯大宇; 许仙珍; 单长考; 李斌
Department机器人学研究室
Source Publication高技术通讯
ISSN1002-0470
2015
Issue7Pages:713-718
Indexed ByCSCD
CSCD IDCSCD:5617852
Contribution Rank1
Funding Organization国家自然科学基金(61473283),机器人学国家重点实验室开放基金(2014-O08),校新引进教师科研启动项目(XZ1306)和葡萄牙科技部基金(CIENCIA2007)资助项目.
Keyword蛇形机器人 单向被动轮(Upw) 坡面探查 接触机构
Abstract为了使蛇形机器人能有效地爬坡执行任务,为一个蛇形机器人样机设计了一种新型的单向被动轮(UPW)接触机构。通过大量试验证明,该单向被动轮接触机构可以实现蛇形机器人坡面静止及坡面摆头探测任务,避免采用双向被动轮作为地面接触机构的蛇形机器人在坡面上因下滑而无法完成探测任务的缺陷。本研究为蛇形机器人实用化提供了技术储备。
Other AbstractTo enable a snake-like robot to have the explorating capacity when it is on sloping fields, a novel unidirection- al passive wheel (UPW) contacting mechanism was developed for a prototypical snake-like robot. The experimental results proved that this UPW contacting mechanism can make the snake-like robot rest on a slop and swing its head for performing exploration tasks, thus the shortage of ordinary snake-like robots adopting dual-direction passive wheels as the ground contacting mechanism that they can not perform exploration tasks on slop fields due to their sliding down on a slop can be avoided. This work provides the technical reserve for the application of snake-like robots.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17717
Collection机器人学研究室
Corresponding Author卢振利
Affiliation1.常熟理工学院电气与自动化工程学院
2.中国科学院沈阳自动化研究所 机器人学国家重点实验室
3.阿威罗大学,电子和信息通信工程研究所
Recommended Citation
GB/T 7714
卢振利,刘超,孙凯翔,等. 单向被动轮接触机构蛇形机器人的设计[J]. 高技术通讯,2015(7):713-718.
APA 卢振利.,刘超.,孙凯翔.,冯大宇.,许仙珍.,...&李斌.(2015).单向被动轮接触机构蛇形机器人的设计.高技术通讯(7),713-718.
MLA 卢振利,et al."单向被动轮接触机构蛇形机器人的设计".高技术通讯 .7(2015):713-718.
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