ORIGINAL DESIGN OF A WHEELCHAIR ROBOT EQUIPPED WITH VARIABLE GEOMETRY SINGLE TRACKED MECHANISMS
文献类型：期刊论文
| 作者 | Yu SY(于苏洋); Wang T(王挺) ; Wang ZD(王志东); Wang YC(王越超); Yao C(姚辰); Li XF(李小凡)
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| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION
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| 出版日期 | 2015 |
| 卷号 | 30期号:1页码:87-97 |
| 关键词 | Wheelchair robot variable geometry single tracked mechanism (VGSTM) obstacle clearing ability driving moment tip-over and slippage stability criterion |
| ISSN号 | 0826-8185 |
| 产权排序 | 1 |
| 通讯作者 | 于苏洋 |
| 中文摘要 | This paper introduces an originally designed wheelchair robot equipped a variable geometry single tracked mechanism (VGSTM). This mechanism can actively control the robot shape and track tension to adapt for obstacles by two pairs of flippers, so the obstacle clearing ability of traditional wheelchairs can be improved. With the aim of stair-climbing, an optimal solution method of driving moments is proposed to guide the robot design; a tip-over and slippage stability criterion is established to evaluate the robot performance. Finally, the prototype is built, and the stair-climbing experiment is carried out to verify the obstacle clearing ability of the robot. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Robotics |
| 研究领域[WOS] | Automation & Control Systems ; Robotics |
| 关键词[WOS] | VEHICLE |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000349599300009 |
| 公开日期 | 2015-03-17 |
| 源URL | [http://ir.sia.cn/handle/173321/15746]  |
| 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. ORIGINAL DESIGN OF A WHEELCHAIR ROBOT EQUIPPED WITH VARIABLE GEOMETRY SINGLE TRACKED MECHANISMS[J]. INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION,2015,30(1):87-97. |
| APA | Yu SY,Wang T,Wang ZD,Wang YC,Yao C,&Li XF.(2015).ORIGINAL DESIGN OF A WHEELCHAIR ROBOT EQUIPPED WITH VARIABLE GEOMETRY SINGLE TRACKED MECHANISMS.INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION,30(1),87-97. |
| MLA | Yu SY,et al."ORIGINAL DESIGN OF A WHEELCHAIR ROBOT EQUIPPED WITH VARIABLE GEOMETRY SINGLE TRACKED MECHANISMS".INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION 30.1(2015):87-97. |
入库方式： OAI收割
来源：沈阳自动化研究所
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