Three-Dimensional Kinematic Analysis of the Actuated Spoke Wheel Robot
Three-Dimensional Kinematic Analysis of the Actuated Spoke Wheel Robot
复制标题
驱动辐轮机器人的三维运动学分析
DOI：
10.1115/detc2006-99751
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
D. Hong
中科院分区：
文献类型：
--
作者：
D. Laney;D. Hong
非结构化环境中移动机器人目前面临的一个问题是缺乏总体移动性。轮式、履带式和腿式机器人各有优点和缺点，但它们都缺乏能够应对各种地形的灵活性。驱动辐条轮系统在早期作品中作为替代机车方法提出，允许独特的移动能力来应对各种情况。本文介绍了使用两个驱动辐条轮配置的机器人的驱动辐条轮系统的三维运动学分析，该系统在地面接触处没有滑动和弹跳约束。第一个分析将涵盖车轴与连接接触点的线（称为枢轴线）共面的情况，并显示两个示例的结果，对应于稳态转弯，以及在特殊情况下的直线行走。第二种情况将描述枢轴线与轴倾斜时的配置，将该配置中的机器人与 SPPS 空间机构进行比较。这种比较将导致推荐一个基于 SPPS 机制的更通用模型，该模型将用于分析两种配置中的运动。版权所有 © 2006 ASME
A current problem for mobile robots in unstructured environments is their lack of general mobility. Wheeled, treaded, and legged robots each have their advantages and disadvantages, but they all lack the flexibility to be able to cope with a wide range of terrain. The actuated spoke wheel system was presented in an earlier work as an alternative locomotive method that allows unique mobility capabilities to cope with various situations. This paper presents the three-dimensional kinematic analysis of the actuated spoke wheel system with no slip and no bounce constraints at the ground contacts for a robot using a two actuated spoke wheel configuration. The first analysis will cover the case when the axle is coplanar with the line connecting the contact points, called the pivot line, and show results from two examples, corresponding to steady state turning and, in the special case, straight-line walking. The second case will describe the configuration when the pivot line is skew with the axle, comparing the robot in this configuration to an SPPS spatial mechanism. This comparison will lead to the recommendation of a more general model, based on the SPPS mechanism, that will be used to analyze the motion in both configurations.Copyright © 2006 by ASME