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Crossing ditch for reconfigurable planetary robots
A new reconfigumble planetary robots system （RPRS） is introduced. The locomotion mechanism alld crossing ditch ability by negotiation among ckild-robots are analyzed. Three configurations are introduced and their characteristics for crossing ditch compared. In order to cross the ditch whose width is...
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| Published in | Journal of Shanghai University Vol. 10; no. 3; pp. 256 - 261 |
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| Main Author | |
| Format | Journal Article |
| Language | English Japanese |
| Published |
Springer Science and Business Media LLC
01.06.2006
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1007-6417 1863-236X |
| DOI | 10.1007/s11741-006-0125-3 |
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| Summary: | A new reconfigumble planetary robots system （RPRS） is introduced. The locomotion mechanism alld crossing ditch ability by negotiation among ckild-robots are analyzed. Three configurations are introduced and their characteristics for crossing ditch compared. In order to cross the ditch whose width is broader than the length of the triangle wheel＇ s edge, a novel method based on the locomotion mechanism of the child-robot is proposed. This makes the two leading robots hold the first robot together with their velocities in opposite directions. Statics for the reconfigurable robot group are analyzed. The result shows that the motors can supply sufficient force moment to cross channel. Simulation .experiments are carried out with VC and OPENGL. |
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| Bibliography: | TP242 31-1735/N reconfigurable planetary robot, crossing channel, statics. ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 |
| ISSN: | 1007-6417 1863-236X |
| DOI: | 10.1007/s11741-006-0125-3 |