Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot
文献类型：会议论文
| 作者 | Yu SY(于苏洋); Wang T(王挺) ; Li XF(李小凡); Yao C(姚辰); Wang Z(王忠); Zhi D(智迪)
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| 出版日期 | 2010 |
| 会议名称 | 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010 |
| 会议日期 | August 4-7, 2010 |
| 会议地点 | Xi'an, China |
| 关键词 | Landforms Mechatronics Stability Stairs Wheelchairs |
| 页码 | 1387-1392 |
| 中文摘要 | In this paper, a wheelchair robot equipped with new-style variable-geometry-tracked mechanism is proposed. This new-style mechanism can adapt to convex terrain and turn to concave geometry by active control of track tension, based on which the terrain adaptability of the wheelchair robot is improved. Aiming at climbing stairs, the transformation rule of robot configuration is presented, the description of passenger's attitude and action is established. Following that, the tip-over stability analysis and simulation are performed with Force-Angle stability measure, and the variation of the tip-over stability margin of the robot under different conditions of passenger's attitude and action during stair-climbing is obtained. The analysis and simulation results provide a valid reference to the wheelchair robot's potential application. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automaton Society; Xidian University; University of Alberta; Kagawa University |
| 会议录 | 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
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| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-5141-8 |
| 源URL | [http://ir.sia.cn/handle/173321/8608]  |
| 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 | Yu SY,Wang T,Li XF,et al. Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot[C]. 见:2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010. Xi'an, China. August 4-7, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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