文献知网节
  • 记笔记

Design and terrainability analysis of a novel mobile robot with variable-diameter wheels

Feng GaoWen ZengHui JiangGuoyan Xu

School of Transportation Science and Engineering,Beihang University

摘要:Mobile robots are usually demanded to enter into unstructured terrain.Thus,terrainability of a robot is specially important in cluttered environments.A novel mobile robot with variable-diameter wheels is designed here.This robot can adjust its attitude by variable wheel diameters to improve its terrainability.For terrainability,stability and obstaclesurmounting capability of the robot are studied.Furthermore,variable wheel diameters’ effects on these performances were researched.For lateral and longitudinal stabilities,parametric relationships between the maximum slope that the robot can climb and stability requirements were obtained.To avoid stability failures,appropriate failure criterions were proposed.Stability of the robot can be enhanced by changing wheel diameters.The obstacle-surmounting performances of front and rear wheels were analyzed by building two quasi-static models.The results showed that increased wheel diameters enhanced the obstacle-surmounting height.The analytical calculations and the simulations were compared.The simulations verified the reliability of the theoretical calculations.Based on tip-over failure criterions,appropriate strategies can be used to enhance the stability.These analysis presented also can provide theoretical basis for performance optimization design of the robot.
会议名称:

2019能源动力与机械工程研讨会

会议时间:

2019-12-20

会议地点:

中国广东广州

  • 专辑:

    电子技术及信息科学

  • 专题:

    自动化技术

  • DOI:

    10.26914/c.cnkihy.2019.059092

  • 分类号:

    TP242

  • 手机阅读
    即刻使用手机阅读
    第一步

    扫描二维码下载

    "移动知网-全球学术快报"客户端

    第二步

    打开“全球学术快报”

    点击首页左上角的扫描图标

    第三步

    扫描二维码

    手机同步阅读本篇文献

  • HTML阅读
  • CAJ下载
  • PDF下载

下载手机APP用APP扫此码同步阅读该篇文章

下载:5 页码:135-143 页数:9 大小:848k

相关推荐
  • 相似文献
  • 读者推荐
  • 相关基金文献
  • 关联作者
  • 相关视频