| 微小型履带式移动机器人与地面交互特性分析 |
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| 引用本文： | 汤亚锋,杨庆. 微小型履带式移动机器人与地面交互特性分析[J]. 兵工自动化, 2010, 29(2): 37-39. DOI: 10.3969/j.issn.1006-1576.2010.02.012 |
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| 作者姓名： | 汤亚锋 杨庆 |
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| 作者单位： | 装备指挥技术学院,航天装备系,北京,101416;装备指挥技术学院,航天装备系,北京,101416 |
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| 摘 要： | 为实现对微小型履带式移动机器人的最优控制，以微小型覆带式移动机器人原型为基础，利用ADAMS建立该机器人的模型，并设置材料属性、关节等，并根据实际情况施加各种受力，通过自编子程序模拟路面情况，对其在不同路面情况下的运动特性进行了仿真分析。仿真结果表明，该方法能为机器人的结构优化和运动控制提供依据。
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| 关 键 词： | 微小型履带式机器人 地面 交互特性 ADAMS |
| 收稿时间： | 2010-04-09 |
Analysis of Interaction Characteristics Between Mini-Tracked Mobile Robot and Terrain |
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| TANG Ya-feng,YANG Qing. Analysis of Interaction Characteristics Between Mini-Tracked Mobile Robot and Terrain[J]. Ordnance Industry Automation, 2010, 29(2): 37-39. DOI: 10.3969/j.issn.1006-1576.2010.02.012 |
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| Authors: | TANG Ya-feng YANG Qing |
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| Affiliation: | Dept. of Space Equipment;Institute of Command & Technology of Equipment;Beijing 101416;China |
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| Abstract: | In order to achieve the optimal control of mini-tracked mobile robot,taking mini-tracked mobile robot plototype as basic,established robot model using ADAMS,and setting material properties,joints and all kinds of possible forces of this robot are added in this environment according to the physical circumstances. Terrain characteristics are applied to the model using subroutines,and then the locomotion characteristics of the mini-tracked mobile robot are achieved after the simulation analysis. The result sho... |
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| Keywords: | Mini-tracked mobile robot Terrain Interaction characteristic ADAMS |
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