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	Structure parameter optimization of a variable geometry tracked robot for structured environment
	Zhu Y(朱岩); Wang MH(王明辉); Li B(李斌); Wang C(王聪)
	2015
会议名称	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期	June 8-12, 2015
会议地点	Shenyang, China
页码	1344-1349
中文摘要	This paper presents an optimization design method of a variable geometry tracked robot for structured environment. The types and sizes of the obstacles in the structured environment are known. Based on the kinematics analysis of climbing stairs, surmounting pipelines and crossing gullies, the performance functions which display the relationship between structure parameters of the robot and the sizes of obstacles are obtained. Then according to the requirements of overcoming the obstacles in the structured environment, the performance functions are turned into the objective functions, and the goal programming model is obtained. Furthermore, considering the nonlinearity of the model, the pattern search method is applied to obtain the optimization result. Finally, a dynamics simulation platform is set up to verify the performance of the robot, and the feasibility of the parameter optimization method of the robot designed for structured environment is proved.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	2379-7711
ISBN号	978-1-4799-8730-6
WOS记录号	WOS:000380502300246
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17478]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zhu Y,Wang MH,Li B,et al. Structure parameter optimization of a variable geometry tracked robot for structured environment[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.

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