Dynamics of rimless wheel robots during collision
Dynamics of rimless wheel robots during collision
复制标题
无轮机器人碰撞过程中的动力学
DOI：
10.1080/18824889.2022.2029032
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Yasushi Iwatani
中科院分区：
文献类型：
--
作者：
Yasushi Iwatani
无轮缘轮式机器人是一种在各种不平坦地形上具有高机动性的地面机器人。无框轮没有轮辋或轮胎，只有辐条，无框轮机器人随着辐条与地面的碰撞而沿着移动。它们的碰撞方程是从角动量守恒定律导出的，只适用于最简单的无框轮式机器人。不确定的是守恒定律何时被满足或违反，以及在违反的情况下会发生什么。完整的碰撞方程是未知的，即使是最简单的类型的无框轮式机器人。本文考虑了三种类型的无框轮式机器人，包括最简单的类型，并提供了完整的碰撞方程的每一种类型的无框轮式机器人。此外，本文还描述了碰撞过程中的动力学性质。其中一些揭示了三种类型的无框轮式机器人的动力学之间的关系。另一个显示了无框车轮和圆形车轮的动力学之间的关系。它们还阐明了角动量守恒定律何时被满足或违反，以及在每种情况下会发生什么。
Rimless wheel robots are ground robots with high mobility on a variety of uneven terrains. Rimless wheels have no rims or tires but only spokes, and rimless wheel robots move along with collisions of spokes with the ground. Their equations of collision have been derived from a conservation law of angular momentum only for the simplest type of rimless wheel robots. It is uncertain when the conservation law is satisfied or violated, and what happens in the violated case. Complete equations of collision are unknown even for the simplest type of rimless wheel robots. This paper considers three types of rimless wheel robots including the simplest type and provides complete equations of collision for each type of rimless wheel robots. In addition, this paper describes properties of the dynamics during collision. Some of them reveal relationships between the dynamics of the three types of rimless wheel robots. Another shows a relationship between the dynamics of rimless wheels and circular wheels. They also clarify when the conservation law of angular momentum is satisfied or violated, and what happens in each case.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T