原文传递
A Pneumatic Cylinder Driving Polyhedron Mobile Mechanism
| 题名： | A Pneumatic Cylinder Driving Polyhedron Mobile Mechanism |
| 正文语种： | 中文 |
| 作者： | ING Wan YAO Yan-An |
| 作者单位： | School of Mechanical Electronic and ontrol Engineering,Beijing Jiaotong University,Beijing 100044, hina |
| 关键词： | Mobile mechanism Polyhedron Cylinder |
| 摘要： | A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper.The mechanism is comprised of 5 Tetrahedrons which includes a pneumatic cylinder in each edge.It locomotes by rolling and its rolling principle is that the center of mass (CM) of the mechanism moves out of the supporting area and makes it tip over through the controlling of the motion sequence of these cylinders.Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism.Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism.After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits.At last, a prototype is fabricated to roll successfully by the proposed conception. |
| 会议日期： | 201111 |
| 会议举办地点： | 北京 |
| 会议名称： | 2011年全国博士生学术论坛——交通运输工程 |
| 出版日期： | 2011-10-31 |
| 母体文献： | 2011年全国博士生学术论坛——交通运输工程论文集 |
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