Kinematics analysis of a transformable wheel-track robot with self-adaptive mobile mechanism
文献类型：会议论文
| 作者 | Li ZQ(李智卿); Ma SG(马书根) ; Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
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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 | Interplanetary spacecraft Kinematics Landforms Mechatronics Terrorism Wheels |
| 页码 | 1537-1542 |
| 中文摘要 | Performing the dangerous mission such as planetary exploration, reconnaissance, anti-terrorism, and rescue, the mobile robot should be capable of moving in the complex and unpredictable environment where the ground may be soft and hard, even and uneven. To access to such terrain features, a novel robot with the self-adaptive mobile mechanism, named as Amoeba-III, has been proposed and developed. It consists of a control system unit and two symmetric transformable wheel-track (TWT) units. Driven only by one servo motor, each TWT unit can efficiently drive over rough terrain by changing the locomotion mode and transforming the track configuration. It means that the mobile mechanism of the robot has self-adaptability to the irregular environment. This paper briefly introduces the mobile mechanism of Amoeba-III, analyses its locomotion modes and postures when the robot runs on the different terrain. Kinematics analysis is presented to verify the movement of Amoeba-III. Finally, experimental results show the validity of this platform. |
| 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/173321/8751]  |
| 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 | Li ZQ,Ma SG,Li B,et al. Kinematics analysis of a transformable wheel-track robot with self-adaptive mobile mechanism[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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