| 爬台阶机器的动力学建模及稳定性分析 |
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| 引用本文： | 顾翔,傅程,林建龙.爬台阶机器的动力学建模及稳定性分析[J].北京工商大学学报(自然科学版),2004,22(5):19-22. |
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| 作者姓名： | 顾翔 傅程 林建龙 |
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| 作者单位： | 北京工商大学,机械自动化学院,北京,100037 |
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| 摘 要： | 对自行设计的一种自动爬台阶机器的运动过程进行了分析,建立了其正常运动状态和翻转状态的动力学模型,并以阻翻能量裕量作为定量衡量爬台阶机器稳定性的评价指标.在各部件不与台阶相干涉的条件下,绘出了质心的位移轨迹曲线.
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| 关 键 词： | 爬台阶机器 动力学建模 稳定性 |
| 文章编号： | 1671-1513(2004)05-0019-04 |
| 修稿时间： | 2004年5月12日 |
DYNAMIC MODELING AND STABILITY ANALYSIS OF STAIR-CLIMBING MACHINE |
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| GU Xiang,FU Cheng,LIN Jian-long.DYNAMIC MODELING AND STABILITY ANALYSIS OF STAIR-CLIMBING MACHINE[J].Journal of Beijing Technology and Business University:Natural Science Edition,2004,22(5):19-22. |
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| Authors: | GU Xiang FU Cheng LIN Jian-long |
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| Abstract: | This article analyses the move procedure of stair-climbing machine and build up a dynamic model of its normal motion and rollover process. Based on energy consideration,the rollover prevention energy reserve of the stair-climbing machine is derived and used as an evaluation index of stair-climbing machine rollover stability for stability analysis. Under the non-interference condition between the parts and steps, the coordinate value of the position of the equipment nature centre is calculated and therefore its move curve is drawn out. |
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| Keywords: | stair-climbing machine dynamic modeling stability |
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