| 移动机器人行驶动力学及最优参数匹配 |
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| 引用本文： | 姬江涛,王建中.移动机器人行驶动力学及最优参数匹配[J].北京理工大学学报,2007,27(1):5-8. |
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| 作者姓名： | 姬江涛 王建中 |
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| 作者单位： | 北京理工大学,机电工程学院,北京,100081;河南科技大学,车辆与动力工程学院,河南,洛阳,471003;北京理工大学,机电工程学院,北京,100081 |
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| 摘 要： | 通过对移动机器人武器系统纵向平面内的动力学分析,建立了移动机器人纵向动力学方程,分析了其行驶的附着条件,提出了动力参数的最优匹配方法.行驶方程的Matlab仿真图形表示了机器人在行驶电机最大输出扭矩下,可以达到的坡度角和加速度.该研究为移动机器人的构形设计和功率匹配提供了理论依据.
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| 关 键 词： | 移动机器人 动力学方程 附着条件 最优参数匹配 |
| 文章编号： | 1001-0645(2007)01-0005-04 |
| 收稿时间： | 2006/9/21 0:00:00 |
| 修稿时间： | 09 21 2006 12:00AM |
Running Dynamics and Optimal Match of Dynamic Parameters for Mobile Robots |
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| JI Jiang-tao and WANG Jian-zhong.Running Dynamics and Optimal Match of Dynamic Parameters for Mobile Robots[J].Journal of Beijing Institute of Technology(Natural Science Edition),2007,27(1):5-8. |
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| Authors: | JI Jiang-tao and WANG Jian-zhong |
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| Institution: | 1. School of Meehatronie Engineering, Beijing Institute of Technology, Beijing 100081, China; 2. School of Vehicle and Power Engineering, Henan University of Science and Technology, Luoyang, Henan 471003, China |
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| Abstract: | Based on the dynamic analysis on a wheeled-pedrailed mobile robot with weapons carried in its vertical section,a dynamic equation is developed in the very direction and adhered conditions are analyzed.Based on this,an optimal method on the matching of dynamic parameters is proposed.Simulation figures of the dynamic equation with Matlab showed the slope angle and acceleration that the mobile robot can reach under the maximum output torque of the driving motor.The paper provides some theoretical basis to the structural design and power matching of mobile robots. |
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| Keywords: | mobile robot dynamic equation adhesive conditions optimal match of dynamic(parameters) |
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