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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
Department机器人学研究室
Conference NameInternational Conference on Engineering Design and Optimization, ICEDO 2011
Conference DateAugust 19-21, 2011
Conference PlaceNingbo, China
Source PublicationApplied Mechanics and Materials
PublisherTrans Tech Publications
Publication PlaceClausthal-Zellerfeld, Germany
2011
Pages516-520
Indexed ByEI
EI Accession number20114214435905
Contribution Rank1
ISSN1660-9336
ISBN978-3-03785-259-0
KeywordComputer Software Design Landforms Mobile Robots Optimization Systems Analysis Three Dimensional Wheels
AbstractA 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/9869
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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