Modular universal unit for a snake-like robot and reconfigurable robots
文献类型：期刊论文
| 作者 | Ye ZL(叶长龙); Ma SG(马书根) ; Li B(李斌); Wang YC(王越超)
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| 刊名 | Advanced Robotics
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| 出版日期 | 2009 |
| 卷号 | 23期号:7-8页码:865-887 |
| 关键词 | Modular universal unit snake-like robot reconfigurable robot kinematic model locomotion |
| ISSN号 | 0169-1864 |
| 产权排序 | 1 |
| 中文摘要 | A modular universal unit (MUU) is developed for snake-like robots, which has 3 d.o.f. with a series of passive rollers around its cylindrical shell. Among those d.o.f., pitching and yawing are actuated by means of differential gears to accomplish a large ratio of propulsion to mass. The series of passive rollers around the cylindrical aluminum shell of the MUU form another large wheel that can be used as a driving wheel of mobile robots. The snake-like robot composed of those MUUs has more powerful propulsion and higher mobility. By connecting MUUs in different forms, we can also realize a connected mobile platform or a manipulator in addition to a snake-like robot. Owing to it having 3 d.o.f., two or more MUUs can be connected to make up many mobile robots or form a manipulator that exhibits high mobility and agility. Some typical reconfigurable robots composed of these MUUs are analyzed for locomotion control. Finally, the locomotion experiments and simulations are given to show the characteristics of this MUU. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | SYSTEM ; LOCOMOTION ; DESIGN |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000267818800006 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7379]  |
| 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 | Ye ZL,Ma SG,Li B,et al. Modular universal unit for a snake-like robot and reconfigurable robots[J]. Advanced Robotics,2009,23(7-8):865-887. |
| APA | Ye ZL,Ma SG,Li B,&Wang YC.(2009).Modular universal unit for a snake-like robot and reconfigurable robots.Advanced Robotics,23(7-8),865-887. |
| MLA | Ye ZL,et al."Modular universal unit for a snake-like robot and reconfigurable robots".Advanced Robotics 23.7-8(2009):865-887. |
入库方式： OAI收割
来源：沈阳自动化研究所
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