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Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot
- Source :
- International Journal of Advanced Robotic Systems; October 2012, Vol. 9 Issue: 4
- Publication Year :
- 2012
-
Abstract
- Aiming at the functional requirement of climbing up the stairs, the dynamics and stability during a tracked mobile robot's climbing of stairs is studied. First, from the analysis of its cross-country performance, the mechanical structure of the tracked mobile robot is designed and the hardware composition of its control system is given. Second, based on the analysis to its stairs-climbing process, the dynamical model of stairs-climbing is established by using the classical mechanics method. Next, the stability conditions for its stairs-climbing are determined and an evaluation method of its stairs-climbing stability is proposed, based on a mechanics analysis on the robot's backwards tumbling during the stairs-climbing process. Through simulation and experiments, the effectiveness of the dynamical model and the stability evaluation method of the tracked mobile robot in stairs-climbing is verified, which can provide design and analysis foundations for the tracked mobile robots' stairs-climbing.
Details
- Language :
- English
- ISSN :
- 17298806 and 17298814
- Volume :
- 9
- Issue :
- 4
- Database :
- Supplemental Index
- Journal :
- International Journal of Advanced Robotic Systems
- Publication Type :
- Periodical
- Accession number :
- ejs42206825
- Full Text :
- https://doi.org/10.5772/52850