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一种新型链式结构变形机器人的研究
Alternative TitleStudy on a novel link-type shape shifting robot
李斌; 王靖; 刘金国; 王越超; 马书根
Department机器人学研究室
Conference Name6th World Congress on Intelligent Control and Automation
Conference DateJune 21-23, 2006
Conference PlaceDalian, China
Author of SourceDalian 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
Source PublicationWCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
PublisherIEEE
Publication PlaceNEW YORK
2006
Pages9012-9016
Indexed ByEI ; CPCI(ISTP)
EI Accession number20071510544263
WOS IDWOS:000241773209239
Contribution Rank1
ISBN1-4244-0331-6
Keyword变形机器人 链式结构 环境适应能力
Abstract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。
Other AbstractA 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.
Language中文
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8965
Collection机器人学研究室
Corresponding Author李斌
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, CAS, 114 Nanta Street, Shenyang, 110016, China
2.COE Research Institute, Ritsumeikan University, Shiga-ken 525-8577, Japan
Recommended Citation
GB/T 7714
李斌,王靖,刘金国,等. 一种新型链式结构变形机器人的研究[C]//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. NEW YORK:IEEE,2006:9012-9016.
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