Advanced Search
Volume 31 Issue 07
Jul.  2005
Turn off MathJax
Article Contents
Abstract
References
Journal of Beijing University of Aeronautics and Astronautics  > 2005  >  31(07): 705-708.
Gong Zhaohe, Liu Jianhua. Effect of nuclear radiation on dielectric properties of wave-transmitting materials[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(08): 991-993. (in Chinese)
Citation: Wang Tianmiao, Zou Dan, Chen Dianshenget al. Mechanism design and control method of reconfigurable tracked robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 705-708. (in Chinese)
shu

Mechanism design and control method of reconfigurable tracked robot

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 30 Oct 2004
  • Publish Date: 31 Jul 2005
    Abstract
  • The reconfigurable tracked robot was developed for all-terrain recon. Based on the unique characters of reconfigurable robot, modular mechanical and electrical structure and control method were discussed. The tracked robot was composed of four basic locomotion modules, three connecting rods and two rotational articulations. By the different configurations of all the modules, the mechanical reconfiguration of the tracked vehicle was realized. The distributed control system was adopted. Based on the ARM(advanced RISC microprocessor) real time embedded control system, the reconfiguration was realized when the mechanical structure of the robot was reconfigured. The tracked robot was validated that it has the excellent adaptable ability in complex terrain and has easy and simple reconfigurable performance when it executed recon in the building interior simulating the real task.

     

    • FullText(HTML)
    • References(1)
  • [1] Bojinov H, Casal A, Hogg T. Emergent structures in modular self-reconfigurable robots . In:Proceedings of the 2000 IEEE International Conference on Robotics & Automation . San Francisco, 2000.1734~1741 [2] Zhang Liang, Zhao Jie, Cai Hegao. Research on mechanism design and motion planning of a modular self-reconfigurable robot . In:Proceedings of the 5th World Congress on Intelligent Control and Automation . Hangzhou, 2004.4821~4825 [3] Fujita M, Kitano H, Kageyama K. A reconfigurable robot platform[J] Robotics and Autonomous Systems, 1999, 29:119~132 [4] Zou Dan, Wang Tianmiao, Liang Jianhong, et al. Modularization of miniature tracked reconnaissance robot . In:Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics . Shenyang, 2004. 456~460 [5] Shen Jinxiang, Liu Jiangping, Zhang Hui, et al. Distributed control system for modular self-reconfigurable robots . In:Proceedings of the 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing . Changsha, 2003.932~936 [6] Zhang Ying, Kimon D, Yim M, et al. Software architecture for modular self-reconfigurable robots . In:Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems . Hawaii, 2001. 2355~2360 [7] Yim M, David G. Kimon D, et al. PolyBot:a modular reconfigurable robot . In:Proceedings of the 2000 IEEE International Conference on Robotics & Automation . San Francisco, 2000. 514~520 [8] Satoshi Murata, Eiichi Yoshida, Akiya kamimura, et al. M-TRAN:self-reconfigurable modular robotic system[J] IEEE/ASME Transactions on Mechatronics, 2002,7(4):431~441
    • Relative Articles

  • Relative Articles

    [1]LIU Y S，YANG Y X，LIU Y，et al. Gust alleviation control system of flexible aircraft considering rudder efficiency[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（1）：248-256 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0952.
    [2]RUAN S L，DONG Z，SUN Y，et al. Parameter optimization method of thrust vector/pneumatic rudder composite control law for aircraft based on singular value method[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（4）：1332-1341 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0227.
    [3]WU H，ZHENG Y G，LIU M，et al. Overall design method of ground test equipment for engine dynamic air bleed of aircraft environmental control system[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（2）：573-583 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0014.
    [4]XU M，LI Y，GAO J，et al. Design of aircraft anti-skid braking system integral sliding mode control system based on novel reaching law[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（4）：1107-1116 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0185.
    [5]MA S H，ZHANG D，WANG M Y，et al. Directed interactive topology optimization design for multi-agent affine formation maneuver control[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（4）：1367-1376 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0180.
    [6]LIU W，YAN S，WANG X B，et al. Consensus control of multi-agent systems with uncertain communication networks[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1463-1473 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0518.
    [7]SUN X Z，WU J，SHI L X，et al. Dynamic force equalization for dual redundancy electro-mechanical actuation system[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（4）：1208-1218 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0466.
    [8]WANG L，ZHANG Q J，CHEN H W. Guaranteed-performance formation control of swarm systems based on leader-follower strategy[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（3）：1037-1046 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0371.
    [9]XIE M J，DUAN J Q，MA W R，et al. Sliding mode control for electric braking systems of aircraft based on prescribed performance[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：260-267 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0229.
    [10]ZHOU D P，LI H Q，WANG Y G，et al. Aircraft system identification algorithm based on generalized equivalent model[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1454-1462 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0507.
    [11]WANG X Q，LAI F L，ZHAO C L. Reconfiguration control and motion simulation of tilt-rotor aircraft with multilinks[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1523-1531 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0522.
    [12]YANG S C，CUI H G，ZHOU S D，et al. Real-time performance/security guarantee technology of vehicle control operating system[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（7）：2051-2065 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0594.
    [13]SHI T X，CHEN L S，LI T S，et al. Distributed adaptive anti-disturbance control for power systems based on multi-agents[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1685-1692 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0496.
    [14]LIAO J，GAO X Y，YAN S，et al. Formation reconfiguration control of UAV swarm based on MPC-PIO[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1541-1550 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0398.
    [15]ZHAO Y Y，LIN H，LI B Q. Clamping force sensorless control strategies for electromechanical brake systems[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（10）：2711-2720 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0748.
    [16]WANG C Y，YANG L M，LI Y H. A mapping leader formation control strategy for multiple mobile robots based on two-stage sliding mode control[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（11）：3108-3114 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0792.
    [17]HE T Y，DONG Y，WANG H，et al. Design and optimization of modular parabolic deployable mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（9）：2473-2481 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0652.
    [18]XIA Xin-hui, JIA Ying-hong, ZHANG Jun. Spherical-caging-based control of a dual-arm space robot for capturing an object[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0258
    [19]WANG Z D，GUANG C H，WANG L Q，et al. Design and implementation of robot-assisted subretinal injection system[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（9）：2406-2414 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0667.
    [20]YANG B，LIU Z，WEI X J，et al. A safety analysis approach for embedded system[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（8）：1930-1939 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0185.
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views(2791) PDF downloads(1148) Cited by()
    Proportional views
    Related

    Copyright © Journal of Beijing University of Aeronautics and Astronautics

    Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn

    Supported by: Beijing Renhe Information Technology Co., Ltd.    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return