Kinematics Modeling and Simulation for an Amphibious Robot: Design and Implementation

	Kinematics Modeling and Simulation for an Amphibious Robot: Design and Implementation
	Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min
	2009
会议名称	IEEE International Conference on Automation and Logistics
会议录名称	Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
页码	35-40
会议日期	2009.08
会议地点	Shenyang, China
摘要	Aiming at the problems of optimization design of propulsive mechanism and motion control for an amphibious robot capable of multi-mode motion, a kinematics model is established by Solidworks and imported into ADAMS to form a virtual prototype. An accurate simulation can facilitate designer find hidden errors and gain insights into the kinematics of an amphibious robot. The abilities of straight-going, turning and slope climbing on land are then fulfilled and tested in ADAMS. The concrete steps are also introduced, accompanied by the corresponding analyses. The simulation results are close to the truth and can reflect actual kinematic characteristic of amphibious robot, which confirms the validity of the model.
关键词	Amphibious Robot Kinematics Modeling Multi-mode Adams
收录类别	ISTP
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4949
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Ding Rui
推荐引用方式 GB/T 7714	Ding Rui,Yu Junzhi,Yang Qinghai,et al. Kinematics Modeling and Simulation for an Amphibious Robot: Design and Implementation[C],2009:35-40.