Static stability analysis of a joint double-tracked robot

Chengguo Zong; Shigong Jiang; Wenzeng Guo; Fuquan Dai; Xueshan Gao

doi:10.1109/CCDC.2014.6853116

Static stability analysis of a joint double-tracked robot

Chengguo Zong, Shigong Jiang^*, Wenzeng Guo, Fuquan Dai, Xueshan Gao

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated, due to the complexity of the terrains and posture of the robot itself. Therefore, three typical rough terrains are chosen to be analyzed in this paper, namely, the common rugged terrain, the slope terrain, and the stairs. The corresponding experiments' results demonstrate that the robot can perform with satisfactory on the rough terrains.

Original language	English
Title of host publication	26th Chinese Control and Decision Conference, CCDC 2014
Publisher	IEEE Computer Society
Pages	5242-5247
Number of pages	6
ISBN (Print)	9781479937066
DOIs	https://doi.org/10.1109/CCDC.2014.6853116
Publication status	Published - 2014
Event	26th Chinese Control and Decision Conference, CCDC 2014 - Changsha, China Duration: 31 May 2014 → 2 Jun 2014

Publication series

Name	26th Chinese Control and Decision Conference, CCDC 2014

Conference

Conference	26th Chinese Control and Decision Conference, CCDC 2014
Country/Territory	China
City	Changsha
Period	31/05/14 → 2/06/14

Keywords

Rough terrains
Static stability analysis
Tracked robot

Access to Document

10.1109/CCDC.2014.6853116

Cite this

@inproceedings{73dedd4a882a4e4d87a8eb0aa18085b5,

title = "Static stability analysis of a joint double-tracked robot",

abstract = "This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated, due to the complexity of the terrains and posture of the robot itself. Therefore, three typical rough terrains are chosen to be analyzed in this paper, namely, the common rugged terrain, the slope terrain, and the stairs. The corresponding experiments' results demonstrate that the robot can perform with satisfactory on the rough terrains.",

keywords = "Rough terrains, Static stability analysis, Tracked robot",

author = "Chengguo Zong and Shigong Jiang and Wenzeng Guo and Fuquan Dai and Xueshan Gao",

year = "2014",

doi = "10.1109/CCDC.2014.6853116",

language = "English",

isbn = "9781479937066",

series = "26th Chinese Control and Decision Conference, CCDC 2014",

publisher = "IEEE Computer Society",

pages = "5242--5247",

booktitle = "26th Chinese Control and Decision Conference, CCDC 2014",

address = "United States",

note = "26th Chinese Control and Decision Conference, CCDC 2014 ; Conference date: 31-05-2014 Through 02-06-2014",

}

Zong, C, Jiang, S, Guo, W, Dai, F & Gao, X 2014, Static stability analysis of a joint double-tracked robot. in 26th Chinese Control and Decision Conference, CCDC 2014., 6853116, 26th Chinese Control and Decision Conference, CCDC 2014, IEEE Computer Society, pp. 5242-5247, 26th Chinese Control and Decision Conference, CCDC 2014, Changsha, China, 31/05/14. https://doi.org/10.1109/CCDC.2014.6853116

Static stability analysis of a joint double-tracked robot. / Zong, Chengguo; Jiang, Shigong; Guo, Wenzeng et al.
26th Chinese Control and Decision Conference, CCDC 2014. IEEE Computer Society, 2014. p. 5242-5247 6853116 (26th Chinese Control and Decision Conference, CCDC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Static stability analysis of a joint double-tracked robot

AU - Zong, Chengguo

AU - Jiang, Shigong

AU - Guo, Wenzeng

AU - Dai, Fuquan

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. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated, due to the complexity of the terrains and posture of the robot itself. Therefore, three typical rough terrains are chosen to be analyzed in this paper, namely, the common rugged terrain, the slope terrain, and the stairs. The corresponding experiments' results demonstrate that the robot can perform with satisfactory on the rough terrains.

AB - This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated, due to the complexity of the terrains and posture of the robot itself. Therefore, three typical rough terrains are chosen to be analyzed in this paper, namely, the common rugged terrain, the slope terrain, and the stairs. The corresponding experiments' results demonstrate that the robot can perform with satisfactory on the rough terrains.

KW - Rough terrains

KW - Static stability analysis

KW - Tracked robot

UR - https://www.scopus.com/pages/publications/84905269823

U2 - 10.1109/CCDC.2014.6853116

DO - 10.1109/CCDC.2014.6853116

M3 - Conference contribution

AN - SCOPUS:84905269823

SN - 9781479937066

T3 - 26th Chinese Control and Decision Conference, CCDC 2014

SP - 5242

EP - 5247

BT - 26th Chinese Control and Decision Conference, CCDC 2014

PB - IEEE Computer Society

T2 - 26th Chinese Control and Decision Conference, CCDC 2014

Y2 - 31 May 2014 through 2 June 2014

ER -

Static stability analysis of a joint double-tracked robot

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Conference

Keywords

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