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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yuan Zhou Ming Xie |
| Copyright Year | 2004 |
| Description | Author affiliation: Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore (Yuan Zhou; Ming Xie) |
| Abstract | This paper presents a new design for a mobile platform with passive involutes auxiliary devices. Based on an analysis of currently available solutions for mobile platforms, a major new concept is proposed for better mechanism, actuation, and functionality. We designed a novel passive actuated, involute-shape and position-controlled auxiliary wheels to assist the platform to perform an energy-efficient and controllable transverse motion over obstacles, as well as the capability to predetermine the geometric re-positioning according to the size of hurdles. The advantages of the mechanism and motion transmission chain of this platform are described. Passive motion control and adaptive actuation control structures of the wheels are analyzed. In addition, kinematics and dynamics of the platforms' movement has been simulated in Matlab. Two design problems are also discussed and summarized. |
| Starting Page | 66 |
| Ending Page | 71 |
| File Size | 321513 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780385993 |
| DOI | 10.1109/ICMECH.2004.1364414 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2004-06-05 |
| Publisher Place | Turkey |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Motion control Wheels Art Vehicle dynamics Size control Mobile robots Production engineering Programmable control Adaptive control Kinematics |
| Content Type | Text |
| Resource Type | Article |
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