TY - JOUR
T1 - Design and simulation of throwable mobile robot stair-climbing mechanism
AU - Zhang, Shi Long
AU - Shi, Jia Dong
AU - Wang, Jian Zhong
AU - Duo, Ying Xian
N1 - Publisher Copyright:
© 2016, Editorial Department of Transaction of Beijing Institute of Technology. All right reserved.
PY - 2016/6/1
Y1 - 2016/6/1
N2 - Characterizing small and light, throwable mobile robots are portable and easy to be deployed, so they are widely used in investigation, rescue, detecting and so on. But throwable mobile robots could not climb up stairs for their small dimensions. In this paper, a stair-climbing mechanism was presented for throwable mobile robots. In common cases, the robot still was deployed by throwing. The stair-climbing mechanism only was equipped when the robot had to work on different floors, and the robot must be controlled remotely into work space. A control strategy was designed corresponding to that structure, and a mechanism-control system model was established based on Recurdyn and Matlab/Simulink software. The results of virtual stair-climbing experiments show that, the robot can autonomously climb stairs up and down steadily with this mechanism. This mechanism can solve the contradiction of throwable robots' dimensions and their stair-climbing capability.
AB - Characterizing small and light, throwable mobile robots are portable and easy to be deployed, so they are widely used in investigation, rescue, detecting and so on. But throwable mobile robots could not climb up stairs for their small dimensions. In this paper, a stair-climbing mechanism was presented for throwable mobile robots. In common cases, the robot still was deployed by throwing. The stair-climbing mechanism only was equipped when the robot had to work on different floors, and the robot must be controlled remotely into work space. A control strategy was designed corresponding to that structure, and a mechanism-control system model was established based on Recurdyn and Matlab/Simulink software. The results of virtual stair-climbing experiments show that, the robot can autonomously climb stairs up and down steadily with this mechanism. This mechanism can solve the contradiction of throwable robots' dimensions and their stair-climbing capability.
KW - Autonomous stair-climbing
KW - Dynamics simulation
KW - Mechanism-control system model
KW - Throwable mobile robots
UR - https://www.scopus.com/pages/publications/84976902837
U2 - 10.15918/j.tbit1001-0645.2016.06.005
DO - 10.15918/j.tbit1001-0645.2016.06.005
M3 - Article
AN - SCOPUS:84976902837
SN - 1001-0645
VL - 36
SP - 574
EP - 580
JO - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
JF - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
IS - 6
ER -