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Posture analysis of a dual-crawler-driven robot
Ma SG(马书根); Quan, Qiquan; Liu RQ(刘荣强)
作者部门机器人学研究室
会议名称IEEE/ASME International Conference on Advanced Intelligent Mechatronics
会议日期August 2-5, 2008
会议地点Xi'an, China
会议主办者IEEE
会议录名称2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3
出版者IEEE
出版地NEW YORK
2008
页码365-370
收录类别EI ; CPCI(ISTP)
EI收录号20084011617534
WOS记录号WOS:000260084300064
产权排序1
ISBN号978-1-4244-2494-8
关键词Crawler Mechanism Posture Analysis Tracked Robot
摘要This paper introduces a tracked robot composed of the proposed crawler mechanism, which uses a planetary gear reducer as the power transmission device and provides two types of output in different form with only one actuator. The robot that has two crawler modules can generate several postures by controlling cooperatively the two actuators. This tracked robot, which uses two actuators to give four outputs, however could have less realizable postures than that where outputs are given by the same number of actuators with the outputs. To And what postures can be generated by the introduced dual-crawler robot or all possible postures of this robot, the static analysis of the robot has been conducted and the possible postures are derived numerically in this paper.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20026
专题机器人学研究室
通讯作者Ma SG(马书根)
作者单位1.Department of Robotics, Ritsumeikan University, Japan
2.Shenyang Institute of Automation, CAS, China
3.School of Mechatronics Engineering, Harbin Institute of Technology, China
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Ma SG,Quan, Qiquan,Liu RQ. Posture analysis of a dual-crawler-driven robot[C]//IEEE. NEW YORK:IEEE,2008:365-370.
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