Obstacle-climbing performance simulation analysis of wheel-legged rover
文献类型：会议论文
| 作者 | Wang YM(汪永明); Yu XL(余晓流); Chi RH(迟荣海); Tang WC(汤文成) |
| 出版日期 | 2010 |
| 会议名称 | 2010 2nd International Conference on Computer Engineering and Technology, ICCET 2010 |
| 会议日期 | April 16-18, 2010 |
| 会议地点 | Chengdu, China |
| 关键词 | Software prototyping Wheels |
| 页码 | V174-V179 |
| 中文摘要 | Simulation technology based on the virtual prototype helps to design the physical prototype and optimize its structure. Taking a double-half-revolution wheel-legged rover as research object, this paper established its simplified three dimensional entity model in SolidWorks software, then imported it into ADAMS software and obtained its virtual prototype model by setting their movement coupling relationship among the rods of the wheel-legged mechanism and defining their 3D collision attributes between the striding rods and the ground. Given the angular velocity of the driving motors, obstacle-climbing capability simulations were done, including climbing the slope obstacle and vertical obstacle. And the displacement, velocity and acceleration curves of rover body centroid were obtained, and the contact forces between the striding rods and the ground were also simulated. Simulation results show that the rover has strong obstacle-climbing performance. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议录 | ICCET 2010 - 2010 International Conference on Computer Engineering and Technology, Proceedings
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-6350-3 |
| 源URL | [http://ir.sia.cn/handle/173321/10415]  |
| 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 | Wang YM,Yu XL,Chi RH,et al. Obstacle-climbing performance simulation analysis of wheel-legged rover[C]. 见:2010 2nd International Conference on Computer Engineering and Technology, ICCET 2010. Chengdu, China. April 16-18, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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