| 多运动状态下移动机器人的动力学建模与分析 |
| |
| 引用本文： | 李春书,崔根群,庞思红.多运动状态下移动机器人的动力学建模与分析[J].河北工业大学学报,2009,38(4). |
| |
| 作者姓名： | 李春书 崔根群 庞思红 |
| |
| 作者单位： | 1. 河北工业大学机械学院,天津,300130
2. 河北化工医药职业技术学院机电系,河北,石家庄,050026 |
| |
| 基金项目： | 河北省科学技术研究与发展指导计划，河北省教育厅基金项目，河北省优秀专家出国培训计划 |
| |
| 摘 要： | 通过对关节履带式移动机器人越障过程的运动分析,基于履带车辆行驶力学分析及牛顿-欧拉方程,建立了机器人复合越障运动状态的动力学模型.并以车体的运动为控制目标,分析计算了车体、摆臂的运动变化以及驱动力矩的变化.仿真图形验证了机器人具有良好的运动稳定性,为机器人越障过程的控制奠定了基础.
|
| 关 键 词： | 关节履带式移动机器人 越障 动力学 仿真 |
Dynamic Modeling and Analysis of a Mobile Robot for Multi-movement States |
| |
| LI Chun-shu,CUI Gen-qun,PANG Si-hong.Dynamic Modeling and Analysis of a Mobile Robot for Multi-movement States[J].Journal of Hebei University of Technology,2009,38(4). |
| |
| Authors: | LI Chun-shu CUI Gen-qun PANG Si-hong |
| |
| Affiliation: | 1. School of Mechanical Engineering;Hebei University of Technology;Tianjin 300130;China;2. Department of Mechanical and Electronical Engineering;Hebei Chemical and Pharmaccutical College;Shijiazhuang 050026;China |
| |
| Abstract: | The obstacle-negotiation processes of an articulated-tracked mobile robot were analyzed. Based on the mechanics analysis of tracklayer and Newton-Euler equation, a dynamic equation of compound obstacle-negotiation of the robot was developed. Then given the motion mode of the mobile platform, the motion characteristics of the robot and motor driving torque were analyzed. Finally the dynamics simulation of the robot was given to express well dynamic stability of the robot in the obstacle negotiation processes... |
| |
| Keywords: | articulated-tracked mobile robot obstacle negotiation dynamics simulation |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
