典型文献
Effects of Elastic Joints on Performances of a Close-Chained Rod Rolling Robot
文献摘要：
In rolling experiments,the performances of spider-like robot are limited greatly by its motors'driving ability;meanwhile,the ground reaction forces are so great that they damaged the rods.In this paper,we solve above problems both mechanically and by control.Firstly,we design the parameters of the central pattern generator(CPG)network based on the kinematics of the robot to enable a smooth rolling trajectory.And we also analyze the kinematic rolling and dynamic rolling briefly.Secondly,we add torsion springs to the passive joints of the spider-like robot aiming to make use of its energy storage capacity to compensate the insufficient torque.The simulation results show that the optimized CPG control parameters can reduce the fluctuation of the mass center and the ground reaction forces.The torsion spring can reduce the peak torque requirements of the actuated joints by 50％.
文献关键词：
中图分类号：
作者姓名：
ZHAO Chenliang;ZHANG Xiuli;HUANG Senwei;YAO Yan'an
作者机构：
School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China
文献出处：
引用格式：
[1]ZHAO Chenliang;ZHANG Xiuli;HUANG Senwei;YAO Yan'an-.Effects of Elastic Joints on Performances of a Close-Chained Rod Rolling Robot)[J].上海交通大学学报（英文版）,2022(05):621-630
A类：
Chained
B类：
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AB值：
0.637682
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
