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Modeling and simulation of a six-leg-wheel hybrid mobile robot based on ADAMS
Li YJ(李艳杰); Wu ZW(吴镇炜)
作者部门机器人学研究室
会议名称2010 International Conference on Advanced Mechanical Engineering, AME 2010
会议日期September 4-5, 2010
会议地点Luoyang, China
会议主办者Information Technology and Industrial Engineering Research Center
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2010
页码194-197
收录类别EI ; CPCI(ISTP)
EI收录号20110213557179
WOS记录号WOS:000303181700040
产权排序1
ISSN号1660-9336
ISBN号978-0-87849-249-7
关键词Six-leg-wheel Hybrid Mobile Robot Dynamic Modelling Dynamic Simulation
摘要The dynamic modeling of a six-leg-wheel hybrid mobile robot was built using ADAMS software in this paper. Using the ADAMS model, the kinematic simulation, including the displacement, velocity and acceleration of each part of the robot, can be carried out and the dynamic simulation, including driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation, can also be achieved. The simulation examples were presented. The simulation analyses provide the theory basis for the design of the robot control system based on dynamics.
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/173321/20058
专题机器人学研究室
通讯作者Li YJ(李艳杰)
作者单位1.School of Mechanical Engineering, Shenyang Ligong University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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GB/T 7714
Li YJ,Wu ZW. Modeling and simulation of a six-leg-wheel hybrid mobile robot based on ADAMS[C]//Information Technology and Industrial Engineering Research Center. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2010:194-197.
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