Development of a variable parallelogram tracked mobile robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Development of a variable parallelogram tracked mobile robot
	Ye ZL(叶长龙); Lv, Guangming; Ma SG(马书根); Ni HC(倪会超)
	2012
会议名称	2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
会议日期	December 11-14, 2012
会议地点	Guangzhou, China
关键词	Wheel-track-leg robot Variable parallelogram structure environmental adaptation
页码	2156-2160
通讯作者	叶长龙
中文摘要	Based on the characteristics of wheeled, tracked and legged movements, a variable parallelogram tracked mobile robot(VPTMR) is proposed and developed to enhance its adaptability and stability in the complex environment. This VPTMR robot consists of two variable parallelogram structures, which are composed of one main tracked arm, two lower tracked arms and a chasis. The variable parallelogram structure is actuated by a DC motor. And another DC motor actuates the track rotation, which enables VPTMR robot to move in wheeled, tracked and legged mode that makes the robot to adapt to all rugged environments. The prototype(VPTMR) is developed to verify its performance on environmental adaptability, obstacle crossing ability and stability.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	IEEE Robotics and Automation Society (RAS); South China University of Technology (SCUT); National Natural Science Foundation of China (NSFC); State Key Laboratory of Robotics and System, HIT; IEEE Systems, Man, and Cybernetics Society (SMC)
会议录	Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE Computer Society
会议录出版地	Washington, DC, USA
语种	英语
ISBN号	978-1-4673-2125-9
WOS记录号	WOS:000321004000362
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20074]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ye ZL,Lv, Guangming,Ma SG,et al. Development of a variable parallelogram tracked mobile robot[C]. 见:2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012). Guangzhou, China. December 11-14, 2012.