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Tip-over stability of wheel stair-climbing robot


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Tip-over stability of wheel stair-climbing robot
Liu JuanxiuWu YifeiGuo JianChen Qingwei
School of Automation,NUST,Nanjing 210094,China
stair-climbing robots human-carrying robots tip-over stabilities wheel robots terrain human attitude disturbing forces disturbing torques force-angle measure stability pyramid technique
To study the tip-over stability of human-carrying robots,a tumble stability analysis method is proposed for a wheel stair-climbing robot.Considering that the robot has a characteristic of human-interactivity,the influences of terrain and human attitude are equivalent to a disturbing force and a torque,and the dynamic stability index of the robot is calculated by combing the force-angle measure with the stability pyramid technique.The dynamic stability of the robot during the stairs ascending process is analyzed and simulated.The tip-over stabilities of the robot's four motile configurations are compared under the disturbance force of 440 N and torque of 135 N·m.The simulation results show that the wheel stair-climbing robot has good tip-over stability in motor process.


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Last Update: 2015-12-31