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Development of a variable parallelogram tracked mobile robot
Ye ZL(叶长龙); Lv, Guangming; Ma SG(马书根); Ni HC(倪会超)
作者部门机器人学研究室
会议名称2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
会议日期December 11-14, 2012
会议地点Guangzhou, China
会议主办者IEEE Robotics and Automation Society (RAS); South China University of Technology (SCUT); National Natural Science Foundation of China (NSFC); State Key Laboratory of Robotics and System, HIT; IEEE Systems, Man, and Cybernetics Society (SMC)
会议录名称Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
出版者IEEE Computer Society
出版地Washington, DC, USA
2012
页码2156-2160
收录类别EI ; CPCI(ISTP)
EI收录号20131716244127
WOS记录号WOS:000321004000362
产权排序2
ISBN号978-1-4673-2125-9
关键词Wheel-track-leg Robot Variable Parallelogram Structure Environmental Adaptation
摘要Based on the characteristics of wheeled, tracked and legged movements, a variable parallelogram tracked mobile robot(VPTMR) is proposed and developed to enhance its adaptability and stability in the complex environment. This VPTMR robot consists of two variable parallelogram structures, which are composed of one main tracked arm, two lower tracked arms and a chasis. The variable parallelogram structure is actuated by a DC motor. And another DC motor actuates the track rotation, which enables VPTMR robot to move in wheeled, tracked and legged mode that makes the robot to adapt to all rugged environments. The prototype(VPTMR) is developed to verify its performance on environmental adaptability, obstacle crossing ability and stability.
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/173321/20074
专题机器人学研究室
通讯作者Ye ZL(叶长龙)
作者单位1.College of Electromechanical Engineering, Shenyang Aerospace University, 110136 Shenyang, China
2.Department of Robotics, Ritsumeikan University, 525-8577, Kusatsu, Japan
3.State Robotics Laboratory, Shenyang Institute of Automation, 110016, China
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Ye ZL,Lv, Guangming,Ma SG,et al. Development of a variable parallelogram tracked mobile robot[C]//IEEE Robotics and Automation Society (RAS); South China University of Technology (SCUT); National Natural Science Foundation of China (NSFC); State Key Laboratory of Robotics and System, HIT; IEEE Systems, Man, and Cybernetics Society (SMC). Washington, DC, USA:IEEE Computer Society,2012:2156-2160.
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