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Optimizing Mechanism for a Polymorphic Tracked Robot

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5315))

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Abstract

A new type shape-shifting mechanism of the polymorphic tracked robot has been designed and optimized. A virtual prototype has been established under Adams. We analyzed the sensitivity of design parameters and optimized the design variables using the Design Evaluation Tools of Adams. In order to find the optimized result, sequential quadratic programming has been selected to running the iterative simulation. The optimized mechanism can control the track configuration neither too loose nor too tight, which achieved the tension requirement of the crawling mechanism. The driving mode of the shape-shifting mechanism has also been optimized to improve transforming process of the track configuration.

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Authors and Affiliations

  1. School of Aerospace Science and Engineering, Beijing Institute of Technology, Beijing, China

    Jia Xu, Qingsheng Luo, Ningjun Fan & Jiwei Yang

Authors
  1. Jia Xu
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  2. Qingsheng Luo
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  3. Ningjun Fan
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  4. Jiwei Yang
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong

  2. The Institute of Industrial Research, University of Portsmouth, UK

    Honghai Liu

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Yongan Huang  & Youlun Xiong  & 

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© 2008 Springer-Verlag Berlin Heidelberg

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Xu, J., Luo, Q., Fan, N., Yang, J. (2008). Optimizing Mechanism for a Polymorphic Tracked Robot. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_25

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  • DOI: https://doi.org/10.1007/978-3-540-88518-4_25

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88516-0

  • Online ISBN: 978-3-540-88518-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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