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题名: Coupled-drive-based joint design of a snake robot and its body-lifting method
作者: Ye ZL(叶长龙) ; Ma SG(马书根) ; Wang YC(王越超) ; Li B(李斌)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics, Intelligent Systems and Signal Processing
会议日期: October 8-13, 2003
会议地点: Changsha, China
会议主办者: Chinese High tech Dev Program, Chinese Acad Sci, Chinese Soc Automat, IEEE Syst, Man & Cybernet Soc, Chinese Univ Hong Kong, Natl Univ Def Technol, IEEE Hong Kong RA & CS Joint Chapter, Joint Ctr Intelligen Sensing & Syst, Sch Elect Sci & Engn, Sch Mechatron Engn & Automat
会议录: 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2003
页码: 1086-1090
收录类别: CPCI(ISTP)
ISBN号: 0-7803-7925-X
摘要: Snake robots have very strong environmental adaptability. The locomotion and inspection of the robots depend upon their ability of climbing over obstacles and the lifting height. Especially in the rescuing application, higher the robot can lift more information can be obtained. A novel joint mechanism thus has been designed, that behaves 3 degrees of freedom among which 2 degrees of freedom are driven through coupled drive. The snake robot composed of by these joints can get larger moment and larger workspace. In this paper, we present the principle of the joint design that is based on coupled drive, and introduce the lifting method of the snake robot and the effect of maximal joint angle alpha. Through analysis, we know that the number of units that the snake robot possibly lifts is the square of the number of units that the snake-like robot can directly lift. This is also confirmed by a simple example.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8621
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
叶长龙; 马书根; 王越超; 李斌.Coupled-drive-based joint design of a snake robot and its body-lifting method.见:IEEE .2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS,NEW YORK,2003,1086-1090
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