| 全方位水平姿态爬楼机器人运动性能分析与特殊问题解决方案 |
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| 引用本文： | 梁虎.全方位水平姿态爬楼机器人运动性能分析与特殊问题解决方案[J].北京联合大学学报(自然科学版),2014,28(3):53-57. |
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| 作者姓名： | 梁虎 |
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| 作者单位： | 东华大学机械工程学院,上海,201620 |
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| 摘 要： | 主要介绍了全方位水平姿态爬楼机器人的简要原理,分析和研究了其相关机械性能,通过机器人失稳分析,研究了机器人运动稳定性和可控性计算,通过数学建模来解决旋转楼梯的爬越问题,使用Matlab编程软件计算出机器人越障的可能性,为以后自动控制提供依据和支持。
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| 关 键 词： | 机器人 机械性能 失稳分析 旋转楼梯的爬越 |
Analysis of the Mechanical System of the Omnibearing-walk Stair-climbing Robot and Solutions to Special Problems |
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| LIANG Hu.Analysis of the Mechanical System of the Omnibearing-walk Stair-climbing Robot and Solutions to Special Problems[J].Journal of Beijing Union University,2014,28(3):53-57. |
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| Authors: | LIANG Hu |
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| Institution: | LIANG Hu (College of Mechanical Engineering, Donghua University, Shanghai 201620, China) |
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| Abstract: | Briefly introduced the theory of the omnibearing level posture climbing robot,made deeply analysis and studied on it ＇s mechanical properties. Through robot motion instability analysis, motion analysis and controllability computing,puts up a new method to solve the climbing spiral stairs issues and calculates the possibility of robot obstacle navigation using Matlab software,providing the basis and support for it＇s automatic control. |
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| Keywords: | Robot Mechanical properties Instability analysis Climbing spiral stairs |
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