Research on Slope Climbing Capacity of a Close Chain Five-Bow-Shaped-Bar Linkage
Slope climbing capacity of a close chain five-bow-shaped-bar linkage and minimum friction coefficient during climbing are analyzed.First,the analysis model of slope climbing for the closed linkage is established,and the CG position kinematics model on slope is built with homogeneous transformation matrix.Secondly,the static analysis model is established to get the active joint angle along with a certain slope under the geometrical constraint of the slope,and the graph between the maximum slope and roll angle is obtained by using numerical method.Thirdly,the minimum static friction coefficients curve is figured out by the force relationship.Then,motion planning is conducted by the constant CG offset for uniform climbing,thereby solving the active joint trajectory.Finally,slope climbing experiments are carried out to verify the correctness of analysis results.
A close chain five-bow-shaped-bar linkage Constant CG offset Slope climbing Joint trajectory
Lian-qing Yu Yuan-yuan Mei Yu-jin Wang Chang-lin Wu
School of Mechanical Engineering and Automation,Wuhan Textile University, 430073 Wuhan, Hubei,People School of Mechanical Science and Engineering,Huazhong University of Science and Technology,430074 Wu
国际会议
广州
英文
1365-1376
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）