ժҪ �����˶�����(VCM,Virtual Center of Motion)����ʵ������һ�������ɶȵĹ��ܻ���,����VCM�������ص�,����Ӧ�õ�����ʽ����ӦԽ�ϻ����˵������,����˻�����Խ������.ͨ������VCMλ����ǰ�������ĵ�λ�ù�ϵ,�Ż���ǰ�������Ľṹ����.����VCM���ص����ǰ�������ľ���ѧģ��,ͨ�������ĶԱȷ�����������ǰ�������ĵ����ڸ��ƻ�����������ѧ�����е�����,���Ż��˵��ɵİ�װλ��.�������Ż�����������ƽ�ȵķ�ԽԼ2.1������ֱ���ߵ���ֱ̨���ϰ�,���ҿ��������ʵǵ���1.27������ֱ����¥�ݺ�����Ӧ���ָ��ӵ���.
The mechanism with the characteristics of virtual center of motion (VCM) is one of the limited degree of freedom (DOF) mechanisms substantively. The VCM was employed in robots which were mobile on rough terrain for its special characteristics. The front mechanism was optimized through analyzing the relation of the VCM and the center of the front wheel�� The static model of the robot was simplified for the character of VCM. According to the static analysis, the parameter and the position of the spring suspension on the front mechanism were optimized through minimizing the friction coefficient of the wheels. The ground contact of all wheels at any time was guaranteed by the spring. An optimized prototype was designed and manufactured. It is able to passively overcome obstacles of up to 2.1 times of its wheel diameter and can climb stairs with steps of over 1.27 times. The advance of the passive adaptation in rough terrain was shown in the contrastive experiments.
Granda C,Ben A F,Bidaud P. Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini rover[J].Proceedings of SPIE.2002,4715:295-302
Grand C,Ben A F,Plumet F,et a1. Stability and traction optimization of a reconfigurable wheel-legged robot[J].The International Journal of Robotics Research.2004,23(10/11):1041-1058
Morales R,Feliu V,Gonzalez A,et a1. Kinematic model of a new staircase climbing wheelchair and its experimental validation[J].The International Journal of Robotics Research.2006,25(9):825-841
Lagnemma K,Rzepnivewski A,Dubowsky S. Control of robotic vehicles with actively articulated suspensions in rough terrainl[J].Autonomous Robots.2003,14:5-16
Fiorini P. Ground mobility systems for planetary explorationl Proceedings of the 2000 IEEE International Conference on Robotics & Automation.Piscataway,NJ:IEEE,2000:908-913
Thueer T,Lamon P,Krebs A,et,al. CRAB-exploration rover with advanced obstacle negotiation 9th ESA Workshop on Advanced Space Technologies for Robotics. Netherlands: Astrionic Press, 2006
Roland S,Pierre L,Thomas E,et al. Innovative design for wheeled locomotion in rough terrain[J].Robotics and Automous Systems.2002,40(2/3):151-153
������,��F,���.˫�����������ƶ��������е�Ӧ�����Ż�[J].�й���е����,2007,18(10):1141-1142 Chen Shirong,Xu Min,Yang Jie. Design and optimization of fork using in robot[J].China Mechanical Engineering,2007,18(10):1141-1142(in Chinese)