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: 一种新型链式结构变形机器人的研究
其他题名: Study on a novel link-type shape shifting robot
作者: 李斌 ; 王靖 ; 刘金国 ; 王越超 ; 马书根
作者部门: 机器人学研究室
会议名称: 6th World Congress on Intelligent Control and Automation
会议日期: June 21-23, 2006
会议地点: Dalian, China
会议主办者: Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd
会议录: WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 9012-9016
收录类别: CPCI(ISTP) ; EI
ISBN号: 1-4244-0331-6
关键词: 变形机器人 ; 链式结构 ; 环境适应能力
摘要: 分析了一种新型链式变形机构,可以通过结构重构和自动变形来改变自身的构形以适应非结构环境中的运动和作业要求。单个标准模块由模块本体、连接臂和偏置关节等组成。偏置关节避免了变形时模块间的运动干涉,扩大了机器人模块间的相对运动空间。介绍了一种基于新型链式机构的变形机理设计的三模块变形机器人,并对该样机进行了由直线形态、三角形态到并扫形态的变形实验,此外还对变形机器人不同构形的运动性能进行了实验,为进一步实现变形机器人环境自适应研究和投入到实际应用打下了基础。
英文摘要: A novel link-type shape shifting structure has been developed. It can change its shape to adapt to the environment and the task if need. the shape shifting modular robot has a novel link type modularized structure. Each module of the robot has the components such as the driving body component, the link arm and the offset joints. The offset joints have been proposed in the novel mechanism to improve the relative motion space between the adjacent modules. A tracked link-type shape shifting robot has been designed. Metamorphic experiment and unstructured environment experiment have shown high flexibility and mobility of the robot.
语种: 中文
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8965
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
HYQW001291.pdf(373KB)----开放获取View Download

Recommended Citation:
李斌; 王靖; 刘金国; 王越超; 马书根.一种新型链式结构变形机器人的研究.见:IEEE .WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings,NEW YORK,2006,9012-9016
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[李斌]'s Articles
[王靖]'s Articles
[刘金国]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[李斌]‘s Articles
[王靖]‘s Articles
[刘金国]‘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: HYQW001291.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