TY - GEN
T1 - Dynamic analysis for articulated-tracked robot climbing stairs
AU - Rao, Wei
AU - Shi, Jia Dong
AU - Wang, Jian Zhong
PY - 2014
Y1 - 2014
N2 - Climbing stairs is one of the important functions of the articulated-tracked robot obstacle, the robot can be improved through the complex terrain capability. The robot is conducted action planning for climbing stair. Action planning of the robot, speed and acceleration of position change of the robot's center of mass, moment of inertia of driving wheels and arm wheels for influence of the robot dynamic feature are considered, complex dynamic models of the robot to climb stairs are built. The relationships of driving wheel torque, arm wheel torque and its different speed, acceleration, staircases height, angle of the robot and the stairs are analyzed by simulations, maximum driving torques of driving wheel and arm wheel are obtained in the process of robot climbing stairs, a theoretical basis for articulated-tracked robot selecting the appropriate driving torque and motion control are provided.
AB - Climbing stairs is one of the important functions of the articulated-tracked robot obstacle, the robot can be improved through the complex terrain capability. The robot is conducted action planning for climbing stair. Action planning of the robot, speed and acceleration of position change of the robot's center of mass, moment of inertia of driving wheels and arm wheels for influence of the robot dynamic feature are considered, complex dynamic models of the robot to climb stairs are built. The relationships of driving wheel torque, arm wheel torque and its different speed, acceleration, staircases height, angle of the robot and the stairs are analyzed by simulations, maximum driving torques of driving wheel and arm wheel are obtained in the process of robot climbing stairs, a theoretical basis for articulated-tracked robot selecting the appropriate driving torque and motion control are provided.
KW - Articulated-tracked robot
KW - Climbing stairs
KW - Driving torque
KW - Dynamics
UR - https://www.scopus.com/pages/publications/84896881487
U2 - 10.4028/www.scientific.net/AMR.889-890.483
DO - 10.4028/www.scientific.net/AMR.889-890.483
M3 - Conference contribution
AN - SCOPUS:84896881487
SN - 9783038350156
T3 - Advanced Materials Research
SP - 483
EP - 487
BT - Engineering Solutions for Manufacturing Processes IV
T2 - 2013 4th International Conference on Advances in Materials and Manufacturing, ICAMMP 2013
Y2 - 18 December 2013 through 19 December 2013
ER -