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 inJournal of Shanghai University Vol. 10; no. 3; pp. 256 - 261
Main Author 张力平 马书根 李斌 张国伟 张政 曹秉刚
Format Journal Article
LanguageEnglish
Japanese
Published Springer Science and Business Media LLC 01.06.2006
Subjects
再配置行星机器人
横向沟
运动机制
静力学
Online AccessGet full text
ISSN1007-6417
1863-236X
DOI10.1007/s11741-006-0125-3

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Abstract 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.
AbstractList 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.
A new reconfigurable planetary robots system (RPRS) is introduced. The locomotion mechanism and crossing ditch ability by negotiation among child-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.
Author 张力平 马书根 李斌 张国伟 张政 曹秉刚
AuthorAffiliation School of Mechanical Engineering, Xi＇an Jiaotong University, Xi＇an 710049, P.R. China Robotics Laboratory , Shenyang Institute of Autamation, Shenyang 110016, P. R. China Faculty of Engineering, Ibaraki University, 316 - 8511, Japan
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Cites_doi 10.1109/ROBOT.1998.676340
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Snippet A new reconfigumble planetary robots system （RPRS） is introduced. The locomotion mechanism alld crossing ditch ability by negotiation among ckild-robots are...
A new reconfigurable planetary robots system (RPRS) is introduced. The locomotion mechanism and crossing ditch ability by negotiation among child-robots are...
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SubjectTerms 再配置行星机器人
横向沟
运动机制
静力学
Title Crossing ditch for reconfigurable planetary robots
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