{"title":"基于键合图和Simulink的移动机器人位姿变形系统可靠性分析","authors":"Jingjing Cui, Yi Ren, Dezhen Yang, S. Zeng","doi":"10.1109/IAS.2016.7731854","DOIUrl":null,"url":null,"abstract":"A novel design of pose deformation system for mobile robots is presented in this paper, which transforms the position of moveable wheels by pushrods mechanism to adapt rough road conditions. A simulation method, which combined the control schemes and physical structures through the Bond Graph and Simulink, is utilized to model the pose deformation and running control process of the proposed design. Based on the model, the responses to step disturbance of the deformation control system are analyzed, then different failure modes of the pushrods are added to simulate the reliability. At last, the effectiveness of the proposed deformation system to improve reliability is verified by simulation results.","PeriodicalId":306377,"journal":{"name":"2016 IEEE Industry Applications Society Annual Meeting","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Reliability analysis of a novel design of pose deformation system for mobile robots through Bond Graph and Simulink\",\"authors\":\"Jingjing Cui, Yi Ren, Dezhen Yang, S. Zeng\",\"doi\":\"10.1109/IAS.2016.7731854\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A novel design of pose deformation system for mobile robots is presented in this paper, which transforms the position of moveable wheels by pushrods mechanism to adapt rough road conditions. A simulation method, which combined the control schemes and physical structures through the Bond Graph and Simulink, is utilized to model the pose deformation and running control process of the proposed design. Based on the model, the responses to step disturbance of the deformation control system are analyzed, then different failure modes of the pushrods are added to simulate the reliability. At last, the effectiveness of the proposed deformation system to improve reliability is verified by simulation results.\",\"PeriodicalId\":306377,\"journal\":{\"name\":\"2016 IEEE Industry Applications Society Annual Meeting\",\"volume\":\"6 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE Industry Applications Society Annual Meeting\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IAS.2016.7731854\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE Industry Applications Society Annual Meeting","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IAS.2016.7731854","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Reliability analysis of a novel design of pose deformation system for mobile robots through Bond Graph and Simulink
A novel design of pose deformation system for mobile robots is presented in this paper, which transforms the position of moveable wheels by pushrods mechanism to adapt rough road conditions. A simulation method, which combined the control schemes and physical structures through the Bond Graph and Simulink, is utilized to model the pose deformation and running control process of the proposed design. Based on the model, the responses to step disturbance of the deformation control system are analyzed, then different failure modes of the pushrods are added to simulate the reliability. At last, the effectiveness of the proposed deformation system to improve reliability is verified by simulation results.
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