| 质心非对称履带式机器人转向半径的修正与验证 |
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| 引用本文： | 刘宁,单体刚,吴建华.质心非对称履带式机器人转向半径的修正与验证[J].天津理工大学学报,2011,27(1):11-14,17. |
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| 作者姓名： | 刘宁 单体刚 吴建华 |
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| 作者单位： | 天津理工大学机械工程学院,天津,300384 |
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| 摘 要： | 履带式机器人的应用现在越来越广泛,对其的操控性要求也就越来越高.其中最主要的操控指标就是转向半径的控制.实验证明履带式移动机器人的转向不仅受两条履带速度差的影响,而且与行走的地面情况和质心位置与形心位置的偏移量有关.本文通过理论分析建立了履带式机器人转弯半径简化计算式和修正计算式,并经过实验验证表明修正计算式是准确可靠的.
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| 关 键 词： | 履带式机器人 质心偏移 转向半径 |
Revision and verification turning radius base on asymmetric of deviation of tracked mobile robot |
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| LIU Ning,SHAN Ti-gang,WU Jian-hua.Revision and verification turning radius base on asymmetric of deviation of tracked mobile robot[J].Journal of Tianjin University of Technology,2011,27(1):11-14,17. |
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| Authors: | LIU Ning SHAN Ti-gang WU Jian-hua |
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| Institution: | LIU Ning,SHAN Ti-gang,WU Jian-hua (School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384,China) |
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| Abstract: | As the tracked mobile robot being used more and more widely,the requirement of its control is higher and higher.And the most important control parameter is turning radius.According to the experiments,the turning radius of tracked mobile robot is influenced not only the velocity difference of both tracks,but also the offset between mass position and shape center position when the tracked mobil is moving.In this paper,a simplified turning radius formula of tracked mobile robot and a modified formula through t... |
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| Keywords: | tracked mobile robot the deviation of the mass center turning radius |
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