TY - GEN
T1 - Obstacle-surmounting capability analysis of a joint double-tracked robot
AU - Zong, Chengguo
AU - Jiang, Shigong
AU - Guo, Wenzeng
AU - Li, Ling
AU - Gao, Xueshan
PY - 2014
Y1 - 2014
N2 - This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. As the angle between the two segments of the robot platform can be changed, the robot can work like a four-tracked robot for moving on many terrains. Change rule of the centroid position in obstacle-surmounting process is analyzed. Moving posture during step climbing are discussed, this is a typical case and is useful for designing the robot platform. The theoretical value of maximal obstacle-surmounting capability of the robot platform is obtained and compares with the test result. The effect of centroid position on obstacle-surmounting capability is obtained, which provides theoretical basis for centroid position control in obstacle-surmounting process. As a whole, reasonable mechanical structure and the good obstacle-surmounting capability of the joint double-tracked robot are tested by experiments.
AB - This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. As the angle between the two segments of the robot platform can be changed, the robot can work like a four-tracked robot for moving on many terrains. Change rule of the centroid position in obstacle-surmounting process is analyzed. Moving posture during step climbing are discussed, this is a typical case and is useful for designing the robot platform. The theoretical value of maximal obstacle-surmounting capability of the robot platform is obtained and compares with the test result. The effect of centroid position on obstacle-surmounting capability is obtained, which provides theoretical basis for centroid position control in obstacle-surmounting process. As a whole, reasonable mechanical structure and the good obstacle-surmounting capability of the joint double-tracked robot are tested by experiments.
KW - Centroid position
KW - Double-tracked robot
KW - Mechanical structure
KW - Obstacle-surmounting capability
UR - http://www.scopus.com/inward/record.url?scp=84906968524&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2014.6885786
DO - 10.1109/ICMA.2014.6885786
M3 - Conference contribution
AN - SCOPUS:84906968524
SN - 9781479939787
T3 - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
SP - 723
EP - 728
BT - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PB - IEEE Computer Society
T2 - 11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Y2 - 3 August 2014 through 6 August 2014
ER -