Reconfigurable characteristics and analysis of an articulated mobile robot with five wheels

被引：0
|
作者：
Xu H. [1 ]
Fu H. [1 ]
Zhang Z. [1 ]
Tan D. [1 ]
Wu Y. [1 ]
Xue K. [1 ]
Luan Y. [1 ]
机构：
[1] College of Mechanical and Electrical Engineering, Harbin Engineering University
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2011年 / 32卷 / 09期
关键词：
Fifth-wheel; Multivariable sensitivity; Reconfigurable characteristic; Reconfigurable mobile robot; Response surface method (RSM);
D O I：
10.3969/j.issn.1007-7043.2011.09.024
中图分类号：
学科分类号：
摘要：
Reconfiguration is an effective solution for robots involved in multi-tasking to enhance performance and reduce cost. The reconfigurable parameters such as stability, mass, and torque of a five-wheel three-body mobile robot with a non-linear relationship toward its performance was analyzed with iSGIHT-FD software. A multi-objective optimization regarding the sensitivity of these parameters was performed to obtain the Pareto set. Furthermore, visualization of design data (VDD) and a response surface method (RSM) of approximation in iSGIHT-FD was used to obtain the relative influence of theses reconfigurable variables. Generally, results of the VDD show that caster angles have the highest impact, while the arm length of the fifth wheel has the least effect. Consequently, corresponding tests of the prototype of a five-wheeled robot were implemented. This method is suitable to succinctly, quickly, and intuitively obtain the relative impact of each variable (sensitivity) of nonlinear multi-variable functions with visualization.
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页码：1233 / 1237
页数：4
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