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题名: Kinematics analysis of a transformable wheel-track robot with self-adaptive mobile mechanism
作者: Li ZQ(李智卿) ; Ma SG(马书根) ; Li B(李斌) ; Wang MH(王明辉) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
会议日期: August 4-7, 2010
会议地点: Xi'an, China
会议主办者: IEEE Robotics and Automaton Society; Xidian University; University of Alberta; Kagawa University
会议录: 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2010
页码: 1537-1542
收录类别: EI
ISBN号: 9781424451418
关键词: Interplanetary spacecraft ; Kinematics ; Landforms ; Mechatronics ; Terrorism ; Wheels
摘要: Performing the dangerous mission such as planetary exploration, reconnaissance, anti-terrorism, and rescue, the mobile robot should be capable of moving in the complex and unpredictable environment where the ground may be soft and hard, even and uneven. To access to such terrain features, a novel robot with the self-adaptive mobile mechanism, named as Amoeba-III, has been proposed and developed. It consists of a control system unit and two symmetric transformable wheel-track (TWT) units. Driven only by one servo motor, each TWT unit can efficiently drive over rough terrain by changing the locomotion mode and transforming the track configuration. It means that the mobile mechanism of the robot has self-adaptability to the irregular environment. This paper briefly introduces the mobile mechanism of Amoeba-III, analyses its locomotion modes and postures when the robot runs on the different terrain. Kinematics analysis is presented to verify the movement of Amoeba-III. Finally, experimental results show the validity of this platform. 
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8751
Appears in Collections:机器人学研究室_会议论文

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