于涌川, 原魁, 邹伟. 全驱动轮式机器人越障过程模型及影响因素分析[J]. 机器人, 2008, 30(1): 1-6.
引用本文: 于涌川, 原魁, 邹伟. 全驱动轮式机器人越障过程模型及影响因素分析[J]. 机器人, 2008, 30(1): 1-6.
YU Yong-chuan, YUAN Kui, ZOU Wei. Dynamic Model of All-Wheel-Drive Mobile Robot Climbing over Obstacles and Analysis on Its Influential Factors[J]. ROBOT, 2008, 30(1): 1-6.
Citation: YU Yong-chuan, YUAN Kui, ZOU Wei. Dynamic Model of All-Wheel-Drive Mobile Robot Climbing over Obstacles and Analysis on Its Influential Factors[J]. ROBOT, 2008, 30(1): 1-6.

全驱动轮式机器人越障过程模型及影响因素分析

Dynamic Model of All-Wheel-Drive Mobile Robot Climbing over Obstacles and Analysis on Its Influential Factors

  • 摘要: 根据全驱动轮式机器人的基本结构构造了越障过程极限状态的动力学模型,该模型体现了多个驱动轮输出转矩之间的关系以及重心分布等影响因素.根据此模型,能够确定系统所需的最低驱动能力和重心分布的限制条件,以满足全驱动轮式机器人的越障性能需求.

     

    Abstract: A dynamic model of the extreme states of all-wheel-drive robot climbing over obstacles is established according to its basic structure.The torque distribution between different driving wheels and the influential factors of gravity allocation are included in the model.Based on this model,the minimum driving capability and the gravity allocation condition can be determined to meet the climbing requirements of the all-wheel-drive robot.

     

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