Study on climbing slope of wheel-track hybrid mobile robot
Study on climbing slope of wheel-track hybrid mobile robot
复制标题
轮轨混合移动机器人爬坡研究
DOI：
10.1109/m2vip.2016.7827308
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Zhu Yuhang
中科院分区：
文献类型：
--
作者：
Fei Yanqiong;Wu Qiuxuan;Zhu Yuhang
设计了一种具有多运动模式的轮轨混合移动机器人。它由一个机器人中心体、四个驱动机构、四个独立的履带臂、两个差动轮、两个导向轮等组成。根据不同的环境，它可以在纯车轮模式和纯履带模式之间切换。用准静态模型定义了稳定性金字塔。用稳定性金字塔法分析了边坡的爬坡过程。实验结果表明，该混合式移动机器人能够充分发挥轮式和履带机构的优点，具有良好的爬坡能力。
A wheel-track hybrid mobile robot with multimotion modes is designed. It is composed of a robot central body, four driving mechanisms, four independent track arms, two differential wheels, two guide wheels and so on. According to different environments, it can switch between the pure wheel mode and the pure track mode. A stability pyramid is defined by using a quasi-static model. The process of climbing the slope is analyzed with the stability pyramid method. Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanism, achieving a good climbing slope capability.