Design and Kinematics Analysis of a 4-DOF Articulated Steering Mechanism
Hao Lin; Jingyi Zheng; En Li; Zize Liang
2015-07
会议名称34th Chinese Control Conference (CCC)
会议录名称Processing of 34th Chinese Control Conference (CCC)
会议日期2015-7
会议地点Hangzhou, China.
摘要
Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism (ASM), which makes them be widely used in many application areas. In view of the importance of ASM, we design a new structure of such mechanisms. The designed 4-DOF ASM can perform yaw and pitch movement actively while roll movement passively. To work efficiently, the ASM is designed to operate in three different modes: “float” mode, “lock” mode, and “active control” mode. Then we deduce the kinematics of articulated vehicle and analyze the workspace of the front vehicle with respect to the rear vehicle to demonstrate the motion performance of the designed ASM. With the elongation and shortening of hydraulic cylinders, the maximum steer angle is beyond 0.4 rad, the range of the rear pitch angle is (-0.22, 0.27) rad, and the range of the front pitch angle is (-0.45, 0.5) rad.
其他摘要本文设计了一种4自由度的铰接转向机构,可实现转向、横滚和前后俯仰运动;建立了铰接机构的运动学模型,并对其运动性能进行了分析。
关键词Articulated Steering Mechanism Articulated Vehicle Kinematics Workspace
收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/11796
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Hao Lin
作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Hao Lin,Jingyi Zheng,En Li,et al. Design and Kinematics Analysis of a 4-DOF Articulated Steering Mechanism[C],2015.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
07260559.pdf(593KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Hao Lin]的文章
[Jingyi Zheng]的文章
[En Li]的文章
百度学术
百度学术中相似的文章
[Hao Lin]的文章
[Jingyi Zheng]的文章
[En Li]的文章
必应学术
必应学术中相似的文章
[Hao Lin]的文章
[Jingyi Zheng]的文章
[En Li]的文章
相关权益政策
暂无数据
收藏/分享
文件名: 07260559.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。