| 小型地面移动机器人特殊运行姿态动力学建模与分析 |
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| 引用本文： | 冯虎田,欧屹,高晓燕.小型地面移动机器人特殊运行姿态动力学建模与分析[J].南京理工大学学报(自然科学版),2006,30(4):486-490. |
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| 作者姓名： | 冯虎田 欧屹 高晓燕 |
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| 作者单位： | 南京理工大学,机械工程学院,江苏,南京,210094 |
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| 摘 要： | 该文以六履带移动机器人为研究目标，以适应越野路面及特殊功能需要，如爬越障碍、自身撑起、翻身等特殊动作。文中给出了系统构成、传动原理及系统设计方案，对运动姿态进行了描述，重点对自身撑起、爬越障碍、翻身3个特殊运动姿态进行了动力学建模，并结合动力驱动能力进行参数对比分析，得出了受力与驱动关系模型及状态临界条件：通过分析为小型地面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。
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| 关 键 词： | 小型地面移动机器人 运动姿态 动力学建模 障碍 撑起 翻跟头 |
| 文章编号： | 1005-9830(2006)04-0486-05 |
| 收稿时间： | 2006-04-02 |
| 修稿时间： | 2006-06-05 |
Dynamic Modeling and Analysis of Miniature Ground-moving Robot Based on Special Moving Pose |
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| FENG Hu-tian,OU Yi,GAO Xiao-yan.Dynamic Modeling and Analysis of Miniature Ground-moving Robot Based on Special Moving Pose[J].Journal of Nanjing University of Science and Technology(Nature Science),2006,30(4):486-490. |
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| Authors: | FENG Hu-tian OU Yi GAO Xiao-yan |
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| Institution: | School of Mechanical Engineering, NUST, Nanjing 210094, China |
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| Abstract: | A six-track ground-moving robot is studied to develop a miniature ground robot applied to special rough environment, such as running in the cross-country race, climbing stairway and obstacle, pushing-up by itself and turning a somersault. The ground mini-robot' s collective design plan is discussed from the locomotion function and the technical target, such as system structure, driving principle and system design. The robot' s moving pose is described in the paper. The dynamic modeling of three special poses of climbing stairway and obstacle, pushing-up by itself and turning a somersault is made. The relationship model of force and driving and the condition of critical states are obtained. The results help to design the miniature ground-moving robot,which can run successfully in a complicated environment and develop its adaptability. |
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| Keywords: | miniature ground-moving robots moving poses dynamic modeling obstacles push-up by itself somersault |
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