Track Tension Optimization for Stair-Climbing of a Wheelchair Robot with Variable Geometry Single Tracked Mechanism
文献类型：会议论文
| 作者 | Yu SY(于苏洋); Wang T(王挺) ; Wang ZD(王志东); Wang YC(王越超); Li XF(李小凡)
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| 出版日期 | 2011 |
| 会议名称 | 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
| 会议日期 | December 7-11, 2011 |
| 会议地点 | Phuket, Thailand |
| 关键词 | Mobile robots Nickel Optimization Robot kinematics Wheelchairs Wheels |
| 页码 | 2774-2779 |
| 中文摘要 | This paper introduces an originally designed wheelchair robot. This robot is equipped with a novel type of Variable Geometry Single Tracked Mechanism (VGSTM) that can actively control the robot shape and the track tension. So it becomes possible to improve the obstacle clearing capability of the robot by adapting the robot shape for the obstacle. The track tension is closely related to the performance of this original wheelchair robot, so with the aim of stair-climbing, which is the most fundamental obstacle clearing performance of the wheelchair robot, the optimization model of the track tension is established based on the geometric model and the static model of the robot. Then the simulation is performed, and the optimal track tension values of the robot for different phases of stair-climbing are obtained. Finally, these track tension values are verified through the experiment. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automation Society |
| 会议录 | 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
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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 | 978-1-4577-2136-6 |
| 源URL | [http://ir.sia.cn/handle/173321/8927]  |
| 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,Wang ZD,et al. Track Tension Optimization for Stair-Climbing of a Wheelchair Robot with Variable Geometry Single Tracked Mechanism[C]. 见:2011 IEEE International Conference on Robotics and Biomimetics (ROBIO). Phuket, Thailand. December 7-11, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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