中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Track Tension Optimization for Stair-Climbing of a Wheelchair Robot with Variable Geometry Single Tracked Mechanism
作者: Yu SY(于苏洋) ; Wang T(王挺) ; Wang ZD(王志东) ; Wang YC(王越超) ; Li XF(李小凡)
作者部门: 机器人学研究室
会议名称: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期: December 7-11, 2011
会议地点: Phuket, Thailand
会议主办者: IEEE Robotics and Automation Society
会议录: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2011
页码: 2774-2779
收录类别: EI
ISBN号: 978-1-4577-2136-6
关键词: Mobile robots ; Nickel ; Optimization ; Robot kinematics ; Wheelchairs ; Wheels
摘要: This paper introduces an originally designed wheelchair robot. This robot is equipped with a novel type of Variable Geometry Single Tracked Mechanism (VGSTM) that can actively control the robot shape and the track tension. So it becomes possible to improve the obstacle clearing capability of the robot by adapting the robot shape for the obstacle. The track tension is closely related to the performance of this original wheelchair robot, so with the aim of stair-climbing, which is the most fundamental obstacle clearing performance of the wheelchair robot, the optimization model of the track tension is established based on the geometric model and the static model of the robot. Then the simulation is performed, and the optimal track tension values of the robot for different phases of stair-climbing are obtained. Finally, these track tension values are verified through the experiment.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8927
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
HYQW001184.pdf(538KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Yu SY(于苏洋)]'s Articles
[Wang T(王挺)]'s Articles
[Wang ZD(王志东)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Yu SY(于苏洋)]‘s Articles
[Wang T(王挺)]‘s Articles
[Wang ZD(王志东)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: HYQW001184.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace