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Dynamic Analysis for Stair-Climbing of a New-Style Wheelchair Robot
Yu SY(于苏洋); Li XF(李小凡); Wang T(王挺); Yao C(姚辰)
Department机器人学研究室
Conference Name22nd Chinese Control and Decision Conference
Conference DateMay 26-28, 2010
Conference PlaceXuzhou, China
Author of SourceNE Univ China, IEEE Ind Elect Chapter, China Univ Mining & Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc, Chinese Assoc Aeronautics, Automatic Control Soc, Chinese Assoc Automat, Appl Soc, Chinese Assoc Syst Simulat, Simulat Methods & Model Soc, Chinese Assoc Artificial Intelligence, Intelligent Control & Management Soc
Source Publication2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2010
Pages4330-4335
Indexed ByEI ; CPCI(ISTP)
EI Accession number20103213139689
WOS IDWOS:000290460302150
Contribution Rank1
ISBN978-1-4244-5182-1
KeywordWheelchair Robot Variable-geometry-tracked Mechanism Dynamics Drive Characteristic
AbstractIn this paper, a wheelchair robot equipped with new-style variable-geometry-tracked mechanism is proposed. Different from general variable-geometry-tracked mechanisms, the key feature of this new-style mechanism is that it can adapt to convex terrain and transform to concave geometry by active control of track tension, based on which the ability of stair-climbing of traditional wheelchair is improved. For obtaining the dynamic characteristic of stair-climbing which is crucial to the robot design, the locomotion and transformation rule for the robot during different climbing phases is presented, the dynamic models of the robot whole body and its fundamental components are established. Finally the dynamic simulation for stair-climbing is performed, and the drive characteristic of the robot under different climbing conditions is obtained. The simulation results provide theoretical foundation to the future work of driving system design and mechanical parameters optimization.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8679
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, China
2.Graduate School, Chinese Academy of Science, Beijing, 100049, China
Recommended Citation
GB/T 7714
Yu SY,Li XF,Wang T,et al. Dynamic Analysis for Stair-Climbing of a New-Style Wheelchair Robot[C]//NE Univ China, IEEE Ind Elect Chapter, China Univ Mining & Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc, Chinese Assoc Aeronautics, Automatic Control Soc, Chinese Assoc Automat, Appl Soc, Chinese Assoc Syst Simulat, Simulat Methods & Model Soc, Chinese Assoc Artificial Intelligence, Intelligent Control & Management Soc. Piscataway, NJ, USA:IEEE,2010:4330-4335.
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