| Dynamic and tip-over stability analysis of a planetary wheeled stair-climbing wheelchair | |
Fang, Lixin ; Lu, Tao; He, Wenhao; Yuan, Kui; Linxin,Fang
| |
| 2012 | |
| 会议名称 | 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 |
| 会议录名称 | IEEE International Conference on Mechatronics and Automation ( ICMA) |
| 页码 | 2541-2546 |
| 会议日期 | 2012 |
| 会议地点 | Chengdu,China |
| 摘要 |
In this paper, the design of the mechanism and the
control system of a planetary wheeled stair-climbing wheelchair
is introduced. The dynamic model of the planetary wheel clusters
is established based on Lagrange equation, and the angle
acceleration curves are studied with various given equivalent
torques. Stability margin of the wheelchair is analyzed in detail
during a single step climbing procedure. According to the
simulation results, the control law of wheelchair's angle is
derived from the projection of the wheelchair’s CG on the
condition that the wheelchair's stability is always maintained.
The wheelchair can be easily operated by an assistant accordance
with the control law. |
| 关键词 | Planetary Wheel Stair-climbing Dynamic Modeling And Stability Margin |
| 收录类别 | EI |
| 文献类型 | 会议论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/5261 |
| 专题 | 智能制造技术与系统研究中心_智能机器人 中国科学院自动化研究所 |
| 通讯作者 | Linxin,Fang |
| 推荐引用方式 GB/T 7714 | Fang, Lixin,Lu, Tao,He, Wenhao,et al. Dynamic and tip-over stability analysis of a planetary wheeled stair-climbing wheelchair[C],2012:2541-2546. |
| 条目包含的文件 | ||||||
| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| dynamic and tip-over（4211KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 | ||
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