Dynamics and stability analysis on stairs climbing of wheel-track mobile robot
文献类型：期刊论文
| 作者 | Li B(李斌) ; Mu, Yu; Guo WZ(郭文增); Cui DQ(崔登祺); Gao XS(高学山)
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2017 |
| 卷号 | 14期号:4页码:1-13 |
| ISSN号 | 1729-8814 |
| 关键词 | Mobile robot wheel-track dynamical model stability analysis crossing stairs |
| 通讯作者 | Cui DQ(崔登祺) |
| 产权排序 | 1 |
| 中文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | TERRAMECHANICS ; VEHICLE |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000405839100001 |
| 源URL | [http://ir.sia.cn/handle/173321/20807]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China |
| 推荐引用方式 GB/T 7714 | Li B,Mu, Yu,Guo WZ,et al. Dynamics and stability analysis on stairs climbing of wheel-track mobile robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2017,14(4):1-13. |
| APA | Li B,Mu, Yu,Guo WZ,Cui DQ,&Gao XS.(2017).Dynamics and stability analysis on stairs climbing of wheel-track mobile robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,14(4),1-13. |
| MLA | Li B,et al."Dynamics and stability analysis on stairs climbing of wheel-track mobile robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 14.4(2017):1-13. |
入库方式： OAI收割
来源：沈阳自动化研究所
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