Research on the obstacle negotiating performance of moving centroid hazardous operation robot with six wheels
It adopts rocker-bogie structure, six wheels driven and hang independently, six wheels different speed steering. The moving mass on the guide is pulled by an electromotor through a gear reducer. based on theoretical analysis of surmounting obstacles capability of robot, surmounting obstacles mathematics models of two front wheels, two middle wheel, and two rear wheels have been established, then the relations between the height of obstacles the robot can surmount and vehicle geometry parameters are given in these kind of conditions by solving them; it analyzes the influence of center of mass to the robot surmounting obstacles and confirms it by simulation. The superiority on the obstacle negotiating performance of this moving centroid is approved.
varied centre of mass hazardous operation robot capability of surmounting obstacles
WANG hao MA zheng shu
Institute of ordnance Technique, ordnance Engineering College of PLA, Shijiazhuang 050003 Institute of ordnance Technique, ordnance Engineering College of PLA, Shijiazhuang 050003;Precise Ma
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）