A modular crawler-driven robot: Mechanical design and preliminary experiments
文献类型：会议论文
| 作者 | Quan, Qiquan; Ma SG(马书根)
|
| 出版日期 | 2009 |
| 会议名称 | 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009) |
| 会议日期 | October 11-15, 2009 |
| 会议地点 | St Louis, MO, USA |
| 页码 | 639-644 |
| 通讯作者 | Quan, Qiquan |
| 中文摘要 | This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as the transmission device and provides two outputs in different forms with only one actuator. When the crawler moves in a rough environment, collision between mechanism and environment inevitably occurs. This under-actuated crawler can absorb the impact energy that should be transmitted to the actuator. A modular concept for the crawler is proposed for enlarging its use in robot systems and mechanical design of a modular crawler is conducted. Using this crawler module, a four-crawler-driven robot is realized by easily assembling. Experiments are conducted to verify the proposed concept and mechanical design. A single crawler module can well perform the proposed three locomotion modes. The four-crawler-driven robot has good adaptability to the environment which can get over obstacles both passively and actively. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | IEEE Robot & Automat Soc (RA), Robot Soc Japan (RSJ), Soc Instruments & Control Engn, IEEE Ind Elect Soc, Inst Control, Robot & Syst Korea, ABB, Barrett Technol, Inc, Willow Garage, ROBOTIS, Aldebaran Robot |
| 会议录 | 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-3803-7 |
| WOS记录号 | WOS:000285372900112 |
| 源URL | [http://ir.sia.cn/handle/173321/20039]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Quan, Qiquan,Ma SG. A modular crawler-driven robot: Mechanical design and preliminary experiments[C]. 见:2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). St Louis, MO, USA. October 11-15, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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