Dynamic analysis of the biped ice-skater robot of passive wheel type
Tóm tắt
A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer.
Tài liệu tham khảo
Endo G, Hirose S. Study on roller-walker: multimode steering control and self-contained locomotion [C]//Proc ICRA. San Francisco, CA: IEEE, 2000: 2808–2814.
Chitta S, Frederik W H, Vijay K. Design, analysis, simulation and experimental results for a rollerblader robot [C]//Proc ICRA. New Orleans, LA: IEEE, 2004: 3944–3949.
Kenji H, Takuya H, Yusuke S, et al. Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion [C]//Proc ICRA. Barcelona, Spain: IEEE, 2005: 2970–2975.
Matsumoto O, Kajita S, Komoriya K. Flexible locomotion control of a self-contained biped leg-wheeled system [C]//Proc RSJ IEEE, EPFL. Lausanne, Switzerland: [s.n.], 2002: 2599–2604.
Song Libo, Lü Tiansheng, Fei Yanqiong, et al. Principle, construction and kinematic analysis of the omnidirectional mobile robot—ice-skater robot [J]. Journal of Shanghai Jiaotong University (English Edition), 2002, 7(2): 130–136.
Song Libo. Study on kinematics and dynamics of passive wheel type ice-skater robot [D]. Shanghai: Shanghai Jiaotong University, 2002.
Chen Ye-hua. Second-order constraints for equations of motion of constrained systems [J]. IEEE/ASME Trans on Mechatronics, 1998, 3(3): 240–248.
XU Zi-li, LV Tian-sheng, XU Zhen-hua, et al. Principle of biped ice-skater robot and its kinematic analysis [J]. China Mechanical Engineering, 2006, 17(3): 230–233.