Dynamic Analysis for Articulated-Tracked Robot Climbing Stairs

Wei Rao; Jia Dong Shi; Jian Zhong Wang

doi:10.4028/www.scientific.net/AMR.889-890.483

Paper Titles

Kinematics Analysis of the New Type of Offset Radial Piston Motor
p.463

Research on Topology Optimization Design Based on Finite Unit Analysis of the Flywheel Hub
p.467

Research and Analysis of the CDV Internal-Combustion Engine Gas Distribution Phase in the Low Temperature Start Process
p.474

Experiment on Static Characteristics of the Braking Signal Transmitter
p.479

Dynamic Analysis for Articulated-Tracked Robot Climbing Stairs
p.483

Analysis and Simulation on Drive Characteristic of High-Strength Water Hydraulic Artificial Muscle
p.488

Experimental Study on the Stability of Pneumatic Cut Tobacco Feeding System
p.493

Experimental Research on Conductor's Ice Accretion and Aerodynamic Characteristics
p.497

Effect of Piston Motion on Combustion of CNG Free Piston Engine (FPE)
p.501

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 889-890Dynamic Analysis for Articulated-Tracked Robot...

Dynamic Analysis for Articulated-Tracked Robot Climbing Stairs

Abstract:

Climbing stairs is one of the important functions of the articulated-tracked robot obstacle, the robot can be improved through the complex terrain capability. The robot is conducted action planning for climbing stair. Action planning of the robot, speed and acceleration of position change of the robot's center of mass, moment of inertia of driving wheels and arm wheels for influence of the robot dynamic feature are considered, complex dynamic models of the robot to climb stairs are built. The relationships of driving wheel torque, arm wheel torque and its different speed, acceleration, staircases height, angle of the robot and the stairs are analyzed by simulations, maximum driving torques of driving wheel and arm wheel are obtained in the process of robot climbing stairs, a theoretical basis for articulated-tracked robot selecting the appropriate driving torque and motion control are provided.

You might also be interested in these eBooks

Engineering Solutions for Manufacturing Processes IV

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 889-890)

Pages:

483-487

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.889-890.483

Citation:

Cite this paper

Online since:

February 2014

Authors:

Wei Rao, Jia Dong Shi*, Jian Zhong Wang

Keywords:

Articulated-Tracked Robot, Climbing Stairs, Driving Torque, Dynamic

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] X.G. Duan, Q. Huang and J.T. Li: Mechanical Design, Vol. 23(2006), p.38. (In Chinese).

Google Scholar

[2] J.G. Xin, X.F. Li, Z. Wang, et al: Robot, Vol. 26(2004), p.35. (In Chinese).

Google Scholar

[3] C. X. Chen and M . M . Trivedi: Proceedings of the IEEE／RSJ International Conference on Intelligent Robots and Systems (Piscataway, NJ, USA, 1993). Vol. 1, p.1349.

Google Scholar

[4] C. Kim,S. Yun,K. Park, et al: Proceedings of the IEEE／RSJ International Conference on Intelligent Robots and Systems(Piscataway, NJ, USA, 2004). Vol. 2, p.1845.

Google Scholar

[5] H.T. Feng, Y. Ou and X.Y. Gao: Journal of Nanjing University of Science and Technology, Vol. 30(2006), p.486. (In Chinese).

Google Scholar

[6] J.G. Liu, Y. C. Wang, S.G. Ma, et al: Proceedings of the IEEE International Workshop on Safety, Security, and Rescue Robots(Piscataway, NJ, USA, 2005) Vol. 1, p.36.

Google Scholar

[7] J.M. Ma, X.F. Li, C. Yao, et al: Robot, Vol. 30(2008),P. 273. (In Chinese).

Google Scholar

[8] Y.G. Liu and G.J. Liu: IEEE/ASME Transactions on Mechatronics, Vol. 14(2009), p.528.

Google Scholar