可重构模块机器人倾翻稳定性研究.pdfVIP

27 3 机器人 ROBOT V o. 27, N o. 3 2005 5 M ay, 2005 : 100220446( 2005) 0320241206 * 1 1, 2 1 李斌 , 刘金国 , 谈大龙 ( 1. , 1100 16; 2. , 100039 ) : , . 3, , 3. , , . 3, . : ; ; ; ; : TP 24 : B Research on the Tipover Stability of a ReconfigurableM odular Robot 1 1, 2 1 L I B in , L IU Jin2guo , TAN Da2 ong ( 1. R obotics La boratory, Sh enyang In stitu te of A u toma tion, Ch ine seA cad emy of Sc iences, Sh eny ang 1100 16, Ch ina; 2. G radua te School of the Ch in ese A cad em y of S cien ce s, B eij ing 100039, Ch ina Abstract: A reconf igurab e m odu ar robo t is propo sed, w h ich can change its con figu rations to mi prove its stab i ity and an2 t2i tipover capab i ity. T his three2modu e tracked robo t has three kinds o f symm etr ica conf igurations, that is, ine type, tr2i ang e type and row type. Based on ana y zing the factors and counte rmeasures of m obi e robot tipover prob em, a stab i ity pyram id and the tipover stab i ity index are proposed to de term ine g oba y the m ob i e robotps static and dynam ic stab i ity. A nd the tipover stab i ity index and g oba stabi ity of the 3 symm etrica conf igurations o f the m e tam orphic robo t under the comb ined d isturbance of p itch, ro and yaw , are d is