[1]刘娟秀,吴益飞,郭 健,等.一种轮足式爬楼梯机器人的倾翻稳定性研究[J].南京理工大学学报(自然科学版),2015,39(06):643.
 Liu Juanxiu,Wu Yifei,Guo Jian,et al.Tip-over stability of wheel stair-climbing robot[J].Journal of Nanjing University of Science and Technology,2015,39(06):643.
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一种轮足式爬楼梯机器人的倾翻稳定性研究
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
39卷
期数:
2015年06期
页码:
643
栏目:
出版日期:
2015-12-31

文章信息/Info

Title:
Tip-over stability of wheel stair-climbing robot
作者:
刘娟秀吴益飞郭 健陈庆伟
南京理工大学 自动化学院,江苏 南京 210094
Author(s):
Liu JuanxiuWu YifeiGuo JianChen Qingwei
School of Automation,NUST,Nanjing 210094,China
关键词:
爬楼梯机器人 载人机器人 倾翻稳定性 轮足式机器人 地形 人体坐姿 干扰力 干扰力矩 力-角度量法 稳定锥方法
Keywords:
stair-climbing robots human-carrying robots tip-over stabilities wheel robots terrain human attitude disturbing forces disturbing torques force-angle measure stability pyramid technique
分类号:
TM351
摘要:
为研究载人机器人的倾翻稳定性,针对一种新型轮足式爬楼梯机器人,提出了分析方法。考虑爬楼梯机器人具有人机交互的特殊性,将地形和人体坐姿对机器人的影响等效为干扰力和干扰力矩,结合力-角度量法和稳定锥方法计算机器人的动态稳定性指数。分析了机器人爬楼梯过程的动态稳定性并进行仿真,同时仿真比较了机器人的四种构型在440 N的干扰力和135 N·m干扰力矩作用下的抗倾翻性能。仿真结果表明了该轮足式爬楼梯机器人在运动过程中具有较好的稳定性。
Abstract:
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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备注/Memo

备注/Memo:
收稿日期:2015-07-06 修回日期:2015-08-01
基金项目:国家自然科学基金(61074023)
作者简介:刘娟秀(1985-),女,博士生,主要研究方向:多关节机器人,智能控制,E-mail:liujuanxiu.1@163.com; 通讯作者:吴益飞(1979-),男,博士,副教授,主要研究方向:电机伺服控制,机器人控制,E-mail:wuyifei0911@163.com。
引文格式:刘娟秀,吴益飞,郭健,等.一种轮足式爬楼梯机器人的倾翻稳定性研究[J].南京理工大学学报,2015,39(6):643-649.
投稿网址:http://zrxuebao.njust.edu.cn
DOI:10.14177/j.cnki.32-1397n.2015.39.06.002
更新日期/Last Update: 2015-12-31