Locomotion analysis and experiment for climbing motion of RPRS
文献类型：会议论文
| 作者 | Zhang LP(张力平); Ma SG(马书根) ; Li B(李斌); Zhang GW(张国伟); He XY(贺鑫元); Wang MH(王明辉); Zhang Z(张政); Cao BG(曹秉刚)
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| 出版日期 | 2005 |
| 会议名称 | IEEE International Conference on Robotics and Automation (ICRA) |
| 会议日期 | April 18-22, 2005 |
| 会议地点 | Barcelona, SPAIN |
| 关键词 | reconfigurable planetary robot locomotion mechanism climbing capacity |
| 页码 | 2093-2098 |
| 中文摘要 | A new Reconfigurable Planetary Robot System (RPRS) is introduced in this paper. The locomotion mechanism, especially the static force analysis and the climbing ability for different configurations of the multiple child-robots are presented in detail. The basic configurations of two child-robots systems were given in three modes: connecting in series with arm in front or back and combining to a loop with grasper. The simulation results of these three configurations based on static analysis demonstrate that the climbing ability is closely correlated to their configurations. Compared the results, the conclusion can be obtained that the loop configuration has the best effect than others on slope climbing. The actual experiments of the child-robots system have illustrated the simulating results, and an exciting phenomenon has emerged, which shows that all the configurations can climb bigger gradient than the simulating results. The phenomenon rightly discloses the characteristic of the novel architecture of the child-robot. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE |
| 会议录 | 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISSN号 | 1050-4729 |
| ISBN号 | 0-7803-8914-X |
| WOS记录号 | WOS:000235460101144 |
| 源URL | [http://ir.sia.cn/handle/173321/8759]  |
| 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 | Zhang LP,Ma SG,Li B,et al. Locomotion analysis and experiment for climbing motion of RPRS[C]. 见:IEEE International Conference on Robotics and Automation (ICRA). Barcelona, SPAIN. April 18-22, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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