Advanced Search
Volume 35 Issue 2
Feb.  2009
Turn off MathJax
Article Contents
Abstract
References
Journal of Beijing University of Aeronautics and Astronautics  > 2009  >  35(2): 261-265.
Zhang Pengfei, Cheng Wei, Zhao Yuet al. Measure of reaction wheels disturbance considering coupling effect[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(8): 948-952. (in Chinese)
Citation: Liu Jinhua, Bi Shusheng, Sun Minglei, et al. Optimal design for passive robot in rough terrain based on VCM[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(2): 261-265. (in Chinese)
shu

Optimal design for passive robot in rough terrain based on VCM

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 20 Jul 2008
  • Publish Date: 28 Feb 2009
    Abstract
  • 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.

     

    • FullText(HTML)
    • References(1)
  • [1] 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 [2] 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 [3] 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 [4] Lagnemma K,Rzepnivewski A,Dubowsky S. Control of robotic vehicles with actively articulated suspensions in rough terrainl[J]. Autonomous Robots,2003,14:5-16 [5] Fiorini P. Ground mobility systems for planetary explorationl Proceedings of the 2000 IEEE International Conference on Robotics & Automation.Piscataway,NJ:IEEE,2000:908-913 [6] 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 [7] 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 [8] 陈世荣,许旻,杨杰.双曲柄机构在移动机器人中的应用与优化[J].中国机械工程,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)
    • Relative Articles

  • Relative Articles

    [1]TIAN D K，ZHANG J W，JIN L，et al. Design and analysis of morphing wing mechanism based on equilateral Bennett mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（3）：742-752 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0139.
    [2]XIONG F，LI Q，LI J，et al. Time-triggered traffic scheduling-oriented virtual network embedding method[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（6）：1982-1990 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0511.
    [3]YANG X X，JIANG Z J，ZHANG Y，et al. Distributed cooperative guidance strategy based on virtual negotiation and rolling horizon optimization[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：61-76 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0174.
    [4]GENG Z T，ZHAO J Q. Design and development of virtual simulation experiment software of composite piezoelectric materials[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（11）：3377-3381 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0826.
    [5]GENG Z W，ZHANG J，KONG N，et al. Design and analysis of space repeatable mechanical locking and electromagnetic unlocking mechanisms[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（12）：3947-3956 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0918.
    [6]LI Y，ZHANG X X，SUN F Q，et al. Belief reliability modeling for assembly accuracy of spaceborne SAR antenna deployable mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：134-143 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0234.
    [7]TIAN Xinyu, WANG Shaoping, WANG Xingjian, ZHANG Yuwei, WEI Yi. Ankle prosthesis control method inspired by central pattern generator[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0665
    [8]LIN Jun-ting, NI Ming-jun. Adaptive model predictive control of virtual coupled based on artificial potential field[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0544
    [9]WANG Y L，FENG S，BU C，et al. Stability characteristics of hybrid wing-body aircraft based on virtual flight[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（9）：2337-2344 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0684.
    [10]ZHANG Yang, QIN Ning-ning. Dual-Dimensional Partition Localization Algorithm Under AP Virtual Location Perception[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0274
    [11]ZHANG Z，WANG P，ZHOU H Y. Reliability analysis of nozzle adjustment mechanism with interval distribution parameters[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（12）：3377-3385 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0089.
    [12]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.
    [13]YANG Z J，WANG G，ZHAO R J，et al. Dynamic analysis of deployment impact of trim-wing mechanism of Mars entry capsules[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（2）：422-429 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0234.
    [14]ZHANG Y X，WANG X J，WANG S P，et al. Mechanism of butterfly forward flight and prototype verification based on characteristic motion observation[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（7）：1651-1660 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0497.
    [15]YANG Yi-feng, WANG Yi, LIU Ao-yu, LI Jia, XIE Li-yang. Calculation and error analysis of kinematic accuracy reliability of VSV adjustment mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0410
    [16]HE L T，FANG H R，CHEN Y F，et al. Design and performance analysis of spatial large extension parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（7）：1722-1734 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0548.
    [17]DU Xianchen, LIU Xue'ao, DONG Yang, WANG Hui, HE Tianyu, WANG Chunjie. Design and dimensional synthesis of a variable wing sweep mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(12): 2502-2509. doi: 10.13700/j.bh.1001-5965.2021.0125
    [18]NIE Liangyi, DING Huafeng, WANG Jun, BI Shusheng. Branch graph method for crank judgement of complex multi-loop linkage[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(10): 1863-1874. doi: 10.13700/j.bh.1001-5965.2021.0152
    • 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(3233) PDF downloads(1295) 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