Design on a Composite Mobile System for Exploration Robot
In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
|
| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2016/6363071 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832562177078198272 |
|---|---|
| author | Weiyan Shang Canjun Yang Yunping Liu Junming Wang |
| author_facet | Weiyan Shang Canjun Yang Yunping Liu Junming Wang |
| author_sort | Weiyan Shang |
| collection | DOAJ |
| description | In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs. |
| format | Article |
| id | doaj-art-39f07a0f965d45b1bb6af072b0f737fe |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-39f07a0f965d45b1bb6af072b0f737fe2025-02-03T01:23:16ZengWileyShock and Vibration1070-96221875-92032016-01-01201610.1155/2016/63630716363071Design on a Composite Mobile System for Exploration RobotWeiyan Shang0Canjun Yang1Yunping Liu2Junming Wang3State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaCollege of Information and Control, Nanjing University of Information Science and Technology, Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Jiangsu 210044, ChinaDepartment of Mechanical Engineering, Ningbo University of Technology, Ningbo 315000, ChinaIn order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.http://dx.doi.org/10.1155/2016/6363071 |
| spellingShingle | Weiyan Shang Canjun Yang Yunping Liu Junming Wang Design on a Composite Mobile System for Exploration Robot Shock and Vibration |
| title | Design on a Composite Mobile System for Exploration Robot |
| title_full | Design on a Composite Mobile System for Exploration Robot |
| title_fullStr | Design on a Composite Mobile System for Exploration Robot |
| title_full_unstemmed | Design on a Composite Mobile System for Exploration Robot |
| title_short | Design on a Composite Mobile System for Exploration Robot |
| title_sort | design on a composite mobile system for exploration robot |
| url | http://dx.doi.org/10.1155/2016/6363071 |
| work_keys_str_mv | AT weiyanshang designonacompositemobilesystemforexplorationrobot AT canjunyang designonacompositemobilesystemforexplorationrobot AT yunpingliu designonacompositemobilesystemforexplorationrobot AT junmingwang designonacompositemobilesystemforexplorationrobot |