Design on a Composite Mobile System for Exploration Robot
Joint Authors
Shang, Weiyan
Yang, Canjun
Liu, Yunping
Wang, Junming
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-01-24
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
In order to accomplish exploration missions in complex environments, a new type of robot has been designed.
By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented.
Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified.
As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied.
Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented.
Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design.
As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted.
By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified.
Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.
American Psychological Association (APA)
Shang, Weiyan & Yang, Canjun & Liu, Yunping & Wang, Junming. 2016. Design on a Composite Mobile System for Exploration Robot. Shock and Vibration،Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1119510
Modern Language Association (MLA)
Shang, Weiyan…[et al.]. Design on a Composite Mobile System for Exploration Robot. Shock and Vibration No. 2016 (2016), pp.1-14.
https://search.emarefa.net/detail/BIM-1119510
American Medical Association (AMA)
Shang, Weiyan & Yang, Canjun & Liu, Yunping & Wang, Junming. Design on a Composite Mobile System for Exploration Robot. Shock and Vibration. 2016. Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1119510
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1119510