Dynamics and stability analysis on stairs climbing of wheel-track mobile robot

被引:30
作者
Gao, Xueshan [1 ,2 ]
Cui, Dengqi [1 ,2 ]
Guo, Wenzeng [1 ]
Mu, Yu [1 ]
Li, Bin [2 ]
机构
[1] Beijing Inst Technol, Sch Mechtron Engn, Beijing 10008, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China
关键词
Mobile robot; wheel-track; dynamical model; stability analysis; crossing stairs; VEHICLE;
D O I
10.1177/1729881417720783
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
A transformable wheel-track robot with the tail rod whose winding will coordinate the center of gravity of the robot is researched, and a theoretical basis for the stable climbing of the robot is provided. After a general introduction of the research, firstly the mechanical hardware and control hardware composition of the wheel-track robot is provided and the principles of its mechanical structure are illustrated. Secondly, through studying the fundamental constrains during the process of the robot climbing the obstacles, a mathematical model based on classical mechanics method is built to help analyze the dynamic principles of a wheel-track mobile robot climbing stairs. Thirdly, the dynamic stability analysis is carried out by analyzing not only the interaction among forces of track, track edge, and stair step but also the different stabilities of the robot when the track and the stairs have different touch points. Finally, an experiment of the modeling track robot climbing the stairs has convinced the effectiveness of the dynamic theories researched, which will be a beneficial reference for the future mobile robots obstacle climbing studies.
引用
收藏
页码:1 / 13
页数:13
相关论文
共 28 条
[1]   Rescue robotics - a crucial milestone on the road to autonomous systems [J].
Birk, Andreas ;
Carpin, Stefano .
ADVANCED ROBOTICS, 2006, 20 (05) :595-605
[2]   Influence of the transmission configuration of a multiple axle vehicle on the obstacle surmounting capacity [J].
Comellas, M. ;
Pijuan, J. ;
Nogues, M. ;
Roca, J. .
VEHICLE SYSTEM DYNAMICS, 2014, 52 (09) :1191-1210
[3]   Mechanism design and motion ability analysis for wheel/track mobile robot [J].
Cui, Dengqi ;
Gao, Xueshan ;
Guo, Wenzeng .
ADVANCES IN MECHANICAL ENGINEERING, 2016, 8 (11) :1-13
[4]  
Davids A, 2002, IEEE INTELL SYST, V17, P81, DOI 10.1109/MIS.2002.999224
[5]  
Frost T., 2002, Proc. of the 2002 PerMIS Workshop, P201
[6]  
FU L., 2011, MACHINERY ELECT, V10, P66
[7]  
Guo W., 2016, STUDY SMALL SPECIAL
[8]  
Hebert M H, 1997, INTELLIGENT UNMANNED, P310
[9]  
KANG Shao-hua, 2014, CHIN J CONSTR MACH, V12, P320
[10]  
Li Jing-yi, 2013, Journal of Beijing Institute of Technology, V22, P301