Analysis of stairs-climbing ability for a tracked reconfigurable modular robot

IEEE International Safety, Security and Rescue Rototics, Workshop, 2005. Pub Date : 2005-06-06 DOI:10.1109/SSRR.2005.1501238

Jinguo Liu, Yuechao Wang, Shugen Ma, Bin Li

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引用次数: 94

Abstract

Stairs-climbing ability is the crucial performance of mobile robot for urban environment mission such as urban search and rescue or urban reconnaissance. The track type mobile mechanism has been widely applied for its advantages such as high stability, easy to control, low terrain pressure, and continuous drive. Stairs-climbing is a complicated process for a tracked mobile robot under kinematics and dynamics constraints. In this paper, the stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing. During each climbing process, robot's mobility has been analyzed for its kinematics and dynamics factor. The track velocity and acceleration's influences on riser climbing have been analyzed. And the semiempirical design method of the track grouser and the module length has been provided in riser crossing and nose line climbing correspondingly. Finally, stairs-climbing experiments have been made on the two-module robot in line type, and three-module robot in line type and in triangle type respectively.

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履带式可重构模块化机器人爬楼梯能力分析

爬楼能力是移动机器人执行城市搜救、城市侦察等城市环境任务的关键性能。履带式移动机构以其稳定性高、易于控制、地形压力小、连续驱动等优点得到了广泛的应用。履带式移动机器人在运动学和动力学的约束下，爬楼梯是一个复杂的过程。本文将爬楼梯过程分为爬立管、跨立管和爬鼻线。在每次攀爬过程中，分析了机器人的运动学和动力学因素。分析了轨道速度和加速度对隔水管爬升的影响。并给出了相应的隔水管穿越和鼻线爬升过程中轨道架和模块长度的半经验设计方法。最后，分别对两模组直线型机器人、三模组直线型机器人和三角形型机器人进行了爬楼梯实验。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.

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