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Dynamics modeling and simulation of a six-wheel all-terrain mobile robot based on ADAMS
Li YJ(李艳杰); Wang, Fude; Kou, Zhihui
作者部门机器人学研究室
会议名称International Conference on Engineering Design and Optimization, ICEDO 2011
会议日期August 19-21, 2011
会议地点Ningbo, China
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2011
页码516-520
收录类别EI
EI收录号20114214435905
产权排序1
ISSN号1660-9336
ISBN号978-3-03785-259-0
关键词Computer Software Design Landforms Mobile Robots Optimization Systems Analysis Three Dimensional Wheels
摘要A novel structure of a six-wheel all-terrain mobile robot with the integration of active and passive control is presented in this paper. According to different complex terrain environments, three-dimensional simulation models of the six-wheel all-terrain mobile robot were built using ADAMS software and the dynamic simulation analyses under different terrain conditions were accomplished. Using the ADAMS model, the kinematic and dynamic characteristics curves of the whole robot and parts of robot were obtained. The simulation analyses provide the theoretical basis for the optimization of the mechanical structure, control system design and the selection of drive motors. Simulation results show that the structure of this kind of robot has good mobility and obstacle-climbing performance.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/9869
专题机器人学研究室
作者单位1.School of Mechanical Engineering, Shenyang Ligong University, Shenyang, Liaoning Province 110168, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
推荐引用方式
GB/T 7714
Li YJ,Wang, Fude,Kou, Zhihui. Dynamics modeling and simulation of a six-wheel all-terrain mobile robot based on ADAMS[C]. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2011:516-520.
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