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题名: Dynamic Analysis for Stair-Climbing of a New-Style Wheelchair Robot
作者: Yu SY(于苏洋) ; Li XF(李小凡) ; Wang T(王挺) ; Yao C(姚辰)
作者部门: 机器人学研究室
会议名称: 22nd Chinese Control and Decision Conference
会议日期: May 26-28, 2010
会议地点: Xuzhou, China
会议主办者: NE Univ China, IEEE Ind Elect Chapter, China Univ Mining & Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc, Chinese Assoc Aeronautics, Automatic Control Soc, Chinese Assoc Automat, Appl Soc, Chinese Assoc Syst Simulat, Simulat Methods & Model Soc, Chinese Assoc Artificial Intelligence, Intelligent Control & Management Soc
会议录: 2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2010
页码: 4330-4335
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-5182-1
关键词: Wheelchair Robot ; Variable-Geometry-Tracked Mechanism ; Dynamics ; Drive Characteristic
摘要: In this paper, a wheelchair robot equipped with new-style variable-geometry-tracked mechanism is proposed. Different from general variable-geometry-tracked mechanisms, the key feature of this new-style mechanism is that it can adapt to convex terrain and transform to concave geometry by active control of track tension, based on which the ability of stair-climbing of traditional wheelchair is improved. For obtaining the dynamic characteristic of stair-climbing which is crucial to the robot design, the locomotion and transformation rule for the robot during different climbing phases is presented, the dynamic models of the robot whole body and its fundamental components are established. Finally the dynamic simulation for stair-climbing is performed, and the drive characteristic of the robot under different climbing conditions is obtained. The simulation results provide theoretical foundation to the future work of driving system design and mechanical parameters optimization.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8679
Appears in Collections:机器人学研究室_会议论文

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