Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair
	Wang T(王挺); Yu SY(于苏洋); Yao C(姚辰); Li XF(李小凡); Wang Z(王忠)
	2011
会议名称	2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
会议日期	December 16-18, 2011
会议地点	Changchun, China
关键词	Reconfigurable wheelchair variable-geometrytracked mechanism track tension optimization
页码	2170-2173
中文摘要	To solve the problem of track tension optimization of a reconfigurable wheelchair using variable-geometry-tracked mechanism while stair-negotiating, some fundamental research has been performed. The process of stair negotiation is divided into three phases, then the locomotion and transformation rules for reconfigurable wheelchair are presented. After the parameters affecting track tension have been put forward, the static models for each phase of stair negotiation are established, as well as the optimization results. The Simulation shows the variation of track tension for each phase of stair negotiation. Eventually, the minimal track tension for each phase is obtained. Simulation results provide the foundation for real-time control of track tension for reconfigurable wheelchair while stair-negotiating.
收录类别	EI
产权排序	1
会议录	Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4577-1701-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17683]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wang T,Yu SY,Yao C,et al. Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair[C]. 见:2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011. Changchun, China. December 16-18, 2011.