| Effects of reconfiguration on the performance of mobile navigation robot |
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| 作者姓名： | 付宜利 Xu He Li Han Wang Shuguo Ma Yuliu |
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| 作者单位： | Advanced Manufacturing Technology Center, Harbin Institute of Technology, Harbin 150001, P. R. China |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | An irmovative mobile robot that has reconfigurable loeomotion chassis and reconfigurable bionic wheels has been developed to meet the needs of different payload and different terrain. Several prototypes have been achieved by the recortfiguration. By modeling relative comparison coefficients, these prototypes are analyzed in terms of geometrical parameter of trafficability, static stability and maneuverability. The effects of reconfiguration on these indices of robot performance can be compared, i.e. the variable height of chassis h has the biggest effect, the variable length of chassis 1 is the second, then is the camber angle β and the caster angle α. Some principles for reconfiguration are proposed.
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| 关 键 词： | 底盘 仿生 轮胎 比较系数 移动导航机器人 |
| 收稿时间： | 2004-10-29 |
Effects of reconfiguration on the performance of mobile navigation robot |
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| Fu Yili,Xu He,Li Han,Wang Shuguo,Ma Yuliu.Effects of reconfiguration on the performance of mobile navigation robot[J].High Technology Letters,2006,12(3):245-249. |
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| Authors: | Fu Yili Xu He Li Han Wang Shuguo Ma Yuliu |
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| Abstract: | An innovative mobile robot that has reconfigurable locomotion chassis and reconfigurable bionic wheels has been developed to meet the needs of different payload and different terrain. Several prototypes have been achieved by the reconfiguration. By modeling relative comparison coefficients, these prototypes are analyzed in terms of geometrical parameter of trafficability, static stability and maneuverability. The effects of reconfiguration on these indices of robot performance can be compared, i.e. the variable height of chassis h has the biggest effect, the variable length of chassis l is the second, then is the camber angleβ and the caster angle α. Some principles for reconfiguration are proposed. |
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| Keywords: | reconfigurable chassis reconfigurable bionic wheel comparative coefficient mobile navigation robot |
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