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工程科学与技术:2008,40(5):190-194
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可翻转轮式移动机器人特殊运行姿态动力学分析
(南京航空航天大学 机电学院,江苏 南京 210016)
Dynamic Analysis of Rotatable Mobile Robot Based on Special Moving Pose
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投稿时间:2008-01-23    
中文摘要: 以轮式移动机器人为研究目标,以适应越野路面及爬坡、翻身等特殊功能需要。给出了可翻转轮式移动机器人的系统构成与设计,重点对爬坡能力及翻转状态动力学进行了分析,给出了影响机器人最大爬坡角的相关因素,根据达朗伯原理,推导出机器人翻转动力学模型,并结合动力驱动能力进行参数对比分析,得出了机器人的倾翻复位条件。通过分析为轮式移动机器人在复杂地理环境下顺利运行,提高机器人适应性提供了理论设计依据。
中文关键词: 移动机器人  可翻转  爬坡  动力学建模
Abstract:A rotatable wheeled mobile robot applied in special rough environment, such as climbing slop and turning a somersault was stadied. The climbing capacity and the dynamic modeling of turning state were analyzed. Some factors affecting the maximum angle of climbing slop were obtained. The dynamic modeling of turning states was inferred by Alembert Principle. Some parameters are analyzed combining driving ability. The robot’s condition of overthrow and reset was gained. The designing the wheeled mobile robot, which can run successfully in a complicated environment, and developing its adaptability
文章编号:20080535     中图分类号:    文献标志码:
基金项目:国家自然科学基金资助项目(50275078)
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赵毅红,朱剑英,郭坚毅.可翻转轮式移动机器人特殊运行姿态动力学分析[J].工程科学与技术,2008,40(5):190-194.
.Dynamic Analysis of Rotatable Mobile Robot Based on Special Moving Pose[J].Advanced Engineering Sciences,2008,40(5):190-194.