Modeling and Optimization of Wheel-Propeller-Leg Integrated Driving Mechanism for an Amphibious Robot
文献类型：会议论文
| 作者 | Tang YG(唐元贵) ; Zhang AQ(张艾群); Yu JC(俞建成)
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| 出版日期 | 2009 |
| 会议名称 | 2nd International Conference on Information and Computing Science |
| 会议日期 | May 21-22, 2009 |
| 会议地点 | Manchester, ENGLAND |
| 关键词 | wheel-propeller-leg integration multi-locomotion models compound-mobile mechanism multi-objective optimization |
| 页码 | 73-76 |
| 中文摘要 | A wheel-propeller-leg integrated amphibious robot is presented as a new type of robot, which can both crawl on land and swim underwater in certain depth or creep on ocean floor. The multi-locomotion models and compound-mobile mechanism are the main traits of the amphibious robot. The motion principle of the wheel-propeller-leg integrated driving mechanism is analyzed, and the multi-objective optimization theory and algorithm are adopted for the comprehensive optimization of the driving performance of both crawl and swim, as a result, the optimized parameters of the driving mechanism are obtained. The simulation results from the virtual prototype prove that the wheel-propeller-leg integrated driving mechanism be endowed with good performance in the comprehensive locomotion, which ensure the amphibious robot fit for unstructured environment in some extent. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | ICIC 2009: SECOND INTERNATIONAL CONFERENCE ON INFORMATION AND COMPUTING SCIENCE, VOL 4, PROCEEDINGS - MODELLING AND SIMULATION IN ENGINEERING
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| 会议录出版者 | IEEE COMPUTER SOC |
| 会议录出版地 | LOS ALAMITOS |
| 语种 | 英语 |
| ISBN号 | 978-0-7695-3634-7 |
| WOS记录号 | WOS:000272834900019 |
| 源URL | [http://ir.sia.cn/handle/173321/7824]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Tang YG,Zhang AQ,Yu JC. Modeling and Optimization of Wheel-Propeller-Leg Integrated Driving Mechanism for an Amphibious Robot[C]. 见:2nd International Conference on Information and Computing Science. Manchester, ENGLAND. May 21-22, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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