Dynamic 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); Li XF(李小凡) ; Wang T(王挺); Yao C(姚辰)
|
| 出版日期 | 2010 |
| 会议名称 | 22nd Chinese Control and Decision Conference |
| 会议日期 | May 26-28, 2010 |
| 会议地点 | Xuzhou, China |
| 关键词 | Wheelchair Robot Variable-Geometry-Tracked Mechanism Dynamics Drive Characteristic |
| 页码 | 4330-4335 |
| 中文摘要 | In this paper, a wheelchair robot equipped with new-style variable-geometry-tracked mechanism is proposed. Different from general variable-geometry-tracked mechanisms, the key feature of this new-style mechanism is that it can adapt to convex terrain and transform to concave geometry by active control of track tension, based on which the ability of stair-climbing of traditional wheelchair is improved. For obtaining the dynamic characteristic of stair-climbing which is crucial to the robot design, the locomotion and transformation rule for the robot during different climbing phases is presented, the dynamic models of the robot whole body and its fundamental components are established. Finally the dynamic simulation for stair-climbing is performed, and the drive characteristic of the robot under different climbing conditions is obtained. The simulation results provide theoretical foundation to the future work of driving system design and mechanical parameters optimization. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | NE Univ China, IEEE Ind Elect Chapter, China Univ Mining & Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc, Chinese Assoc Aeronautics, Automatic Control Soc, Chinese Assoc Automat, Appl Soc, Chinese Assoc Syst Simulat, Simulat Methods & Model Soc, Chinese Assoc Artificial Intelligence, Intelligent Control & Management Soc |
| 会议录 | 2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-5182-1 |
| WOS记录号 | WOS:000290460302150 |
| 源URL | [http://ir.sia.cn/handle/173321/8679]  |
| 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,Li XF,Wang T,et al. Dynamic Analysis for Stair-Climbing of a New-Style Wheelchair Robot[C]. 见:22nd Chinese Control and Decision Conference. Xuzhou, China. May 26-28, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。