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Dynamics and stability analysis on stairs climbing of wheel-track mobile robot
Gao XS(高学山); Cui DQ(崔登祺); Guo WZ(郭文增); Mu, Yu; Li B(李斌)
作者部门机器人学研究室
关键词Mobile Robot Wheel-track Dynamical Model Stability Analysis Crossing Stairs
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8814
2017
卷号14期号:4页码:1-13
收录类别SCI ; EI
EI收录号20173304040698
WOS记录号WOS:000405839100001
产权排序1
资助机构State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Sciences [2015009]
摘要A transformable wheel-track robot with the tail rod whose winding will coordinate the center of gravity of the robot is researched, and a theoretical basis for the stable climbing of the robot is provided. After a general introduction of the research, firstly the mechanical hardware and control hardware composition of the wheel-track robot is provided and the principles of its mechanical structure are illustrated. Secondly, through studying the fundamental constrains during the process of the robot climbing the obstacles, a mathematical model based on classical mechanics method is built to help analyze the dynamic principles of a wheel-track mobile robot climbing stairs. Thirdly, the dynamic stability analysis is carried out by analyzing not only the interaction among forces of track, track edge, and stair step but also the different stabilities of the robot when the track and the stairs have different touch points. Finally, an experiment of the modeling track robot climbing the stairs has convinced the effectiveness of the dynamic theories researched, which will be a beneficial reference for the future mobile robots obstacle climbing studies.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]TERRAMECHANICS ; VEHICLE
WOS研究方向Robotics
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20807
专题机器人学研究室
通讯作者Cui DQ(崔登祺)
作者单位1.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Gao XS,Cui DQ,Guo WZ,et al. Dynamics and stability analysis on stairs climbing of wheel-track mobile robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2017,14(4):1-13.
APA Gao XS,Cui DQ,Guo WZ,Mu, Yu,&Li B.(2017).Dynamics and stability analysis on stairs climbing of wheel-track mobile robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,14(4),1-13.
MLA Gao XS,et al."Dynamics and stability analysis on stairs climbing of wheel-track mobile robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 14.4(2017):1-13.
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