Jianhua Zhang, Lingyu Sun, Ping Peng, Xiaojun Zhang, Jinjie Li
{"title":"Simulation analysis of passive adaptive robot's tip-over stability","authors":"Jianhua Zhang, Lingyu Sun, Ping Peng, Xiaojun Zhang, Jinjie Li","doi":"10.1109/ROBIO.2013.6739752","DOIUrl":null,"url":null,"abstract":"In the complex unstructured road, mobile robots' ability to resist overturning is crucial. In this paper, a tracked mobile robot with passive deformation is developed based on the request of unstructured environment to the robots' movement. The robot can improve stability and the ability to resist overturning by the deformation of passive adaptive mechanisms. A comprehensive judge was made on the tilting of the robot by a standard method of Normalized Dynamic Energy Stability Margin and stability index. The dynamic stability of the robot with road disturbance and inertia force was analyzed and simulated. Theoretical analysis and simulation research offer a reference for the application and design of the robot's control system.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739752","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In the complex unstructured road, mobile robots' ability to resist overturning is crucial. In this paper, a tracked mobile robot with passive deformation is developed based on the request of unstructured environment to the robots' movement. The robot can improve stability and the ability to resist overturning by the deformation of passive adaptive mechanisms. A comprehensive judge was made on the tilting of the robot by a standard method of Normalized Dynamic Energy Stability Margin and stability index. The dynamic stability of the robot with road disturbance and inertia force was analyzed and simulated. Theoretical analysis and simulation research offer a reference for the application and design of the robot's control system.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
