Mechanism Parametric Design of a Deformable Tracke Mobile Robot

被引：0
|
作者：
Ye, Changlong [1 ]
Shi, Jianzheng [1 ]
Yang, Kongshuo [1 ]
机构：
[1] Shenyang Aerosp Univ, Sch Mech & Elect Engn, Shenyang 110136, Peoples R China
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014) | 2014年
关键词：
tracked robot; parametric design; Deformable; obstacle crossing;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a novel deformable tracked mobile robot with parallegram structure is presented, which has three locomotion modes: tracked mode, legged mode and wheeled mode. Especially through taking into consideration of the legged mode and stability in surmounting steps, the optimal mechanism geometric parameters of this robot is obtained in the process of movement by means of geometrical analysis to keep the CG position lower. Experiment results sufficiently verify that mechanism parametric design increases its stability in legged movement and obstacle crossing ability.
引用
收藏
页码：692 / 696
页数：5
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