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论文题目: |
Dynamics and stability analysis on stairs climbing of wheel-track mobile robot |
第一作者: |
Gao XS(高学山);Cui DQ(崔登祺);Guo WZ(郭文增);Mu, Yu;Li B(李斌) |
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发表刊物: |
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS |
发表年度: |
2017 |
卷,期,页: |
14,4,1-13 |
论文出处: |
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论文摘要: |
A transformable wheel-track robot with the tail rod whose winding will coordinate the center of gravity of the robot is researched, and a theoretical basis for the stable climbing of the robot is provided. After a general introduction of the research, firstly the mechanical hardware and control hardware composition of the wheel-track robot is provided and the principles of its mechanical structure are illustrated. Secondly, through studying the fundamental constrains during the process of the robot climbing the obstacles, a mathematical model based on classical mechanics method is built to help analyze the dynamic principles of a wheel-track mobile robot climbing stairs. Thirdly, the dynamic stability analysis is carried out by analyzing not only the interaction among forces of track, track edge, and stair step but also the different stabilities of the robot when the track and the stairs have different touch points. Finally, an experiment of the modeling track robot climbing the stairs has convinced the effectiveness of the dynamic theories researched, which will be a beneficial reference for the future mobile robots obstacle climbing studies. |
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