TY - GEN
T1 - Track-terrain interaction analysis for tracked mobile robot
AU - Weidong, Wang
AU - Lei, Zhou
AU - Zhijiang, Du
AU - Lining, Sun
PY - 2008
Y1 - 2008
N2 - A tracked robot is introduced from machinery, hardware system to software system. The features of mechanical system are modular design, suspension system and radiation protection and waterproof and onboard manipulator. Two swing arms are equipped in the front of the robot to improve robot's obstacle-climbing performance. The sensors include CCD camera, CO, CH4, temperature and radiation are equipped on the robot. Because this robot works in unstructured environment, locomotion performance plays an important role. With the analysis of the track-terrain interaction, a simplified track-ground model is developed. The track in contact with the terrain can be divided into three parts, namely, the front road wheel, the rear road wheel and the middle track. Using this model, we can analysis tracked robot locomotion performance, design motion system of a mobile robot and control a tracked robot.
AB - A tracked robot is introduced from machinery, hardware system to software system. The features of mechanical system are modular design, suspension system and radiation protection and waterproof and onboard manipulator. Two swing arms are equipped in the front of the robot to improve robot's obstacle-climbing performance. The sensors include CCD camera, CO, CH4, temperature and radiation are equipped on the robot. Because this robot works in unstructured environment, locomotion performance plays an important role. With the analysis of the track-terrain interaction, a simplified track-ground model is developed. The track in contact with the terrain can be divided into three parts, namely, the front road wheel, the rear road wheel and the middle track. Using this model, we can analysis tracked robot locomotion performance, design motion system of a mobile robot and control a tracked robot.
KW - Mobile manipulator
KW - Track-terrain interaction model
KW - Tracked robot
UR - https://www.scopus.com/pages/publications/52449104318
U2 - 10.1109/AIM.2008.4601646
DO - 10.1109/AIM.2008.4601646
M3 - 会议稿件
AN - SCOPUS:52449104318
SN - 9781424424955
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 126
EP - 131
BT - Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
T2 - 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Y2 - 2 August 2008 through 5 August 2008
ER -