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题名: Dynamics modeling and simulation of a six-wheel all-terrain mobile robot based on ADAMS
作者: 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: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications
会议录出版地: Clausthal-Zellerfeld, Germany
出版日期: 2011
页码: 516-520
收录类别: EI
ISSN号: 1660-9336
ISBN号: 978-3037852590
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9869
Appears in Collections:机器人学研究室_会议论文

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