摘要
爬梯能力是关节式履带机器人的重要越障性能指标,针对爬梯过程中质心变化规律和运动过程中机体的稳定性等方面进行分析,并通过对爬梯过程进行运动学仿真实验,优化参数,提高设计的可行性及运动过程的平稳性。
The stair-climbing ability is one of important obstacle negotiation performances of robot. By analyzing aspects of the change of center of mass during stair-climbing, and stability of motion, this paper presents a series of kinematics simulation experiments of stair-climbing motion to optimize parameters. The simulation can also help to improve the feasibility of the design and the stability of motion.
出处
《电子机械工程》
2006年第2期60-63,共4页
Electro-Mechanical Engineering
基金
863机器人技术主题重大专项(2004AA420110)
关键词
关节式履带移动机器人
爬梯
运动学仿真
articulated-tracked mobile robot
stair-climbing
kinematics simulation
