Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing
Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simu...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
An, Zhiguo [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2023 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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| Übergeordnetes Werk: |
Enthalten in: Nonlinear dynamics - Springer Netherlands, 1990, 111(2023), 18 vom: 04. Aug., Seite 16939-16962 |
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| Übergeordnetes Werk: |
volume:111 ; year:2023 ; number:18 ; day:04 ; month:08 ; pages:16939-16962 |
| Links: |
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| DOI / URN: |
10.1007/s11071-023-08720-3 |
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| Katalog-ID: |
OLC2145090088 |
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| 520 | |a Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. | ||
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10.1007/s11071-023-08720-3 doi (DE-627)OLC2145090088 (DE-He213)s11071-023-08720-3-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn An, Zhiguo verfasserin (orcid)0000-0001-9363-0172 aut Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing 2023 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. Crawler mobile mechanism Parallel robot Trajectory planning Multi-body dynamics Obstacle performance Zhou, Zhihong aut Li, Dailin aut Gao, Zhengyuan aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 111(2023), 18 vom: 04. Aug., Seite 16939-16962 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:111 year:2023 number:18 day:04 month:08 pages:16939-16962 https://doi.org/10.1007/s11071-023-08720-3 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 111 2023 18 04 08 16939-16962 |
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10.1007/s11071-023-08720-3 doi (DE-627)OLC2145090088 (DE-He213)s11071-023-08720-3-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn An, Zhiguo verfasserin (orcid)0000-0001-9363-0172 aut Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing 2023 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. Crawler mobile mechanism Parallel robot Trajectory planning Multi-body dynamics Obstacle performance Zhou, Zhihong aut Li, Dailin aut Gao, Zhengyuan aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 111(2023), 18 vom: 04. Aug., Seite 16939-16962 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:111 year:2023 number:18 day:04 month:08 pages:16939-16962 https://doi.org/10.1007/s11071-023-08720-3 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 111 2023 18 04 08 16939-16962 |
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10.1007/s11071-023-08720-3 doi (DE-627)OLC2145090088 (DE-He213)s11071-023-08720-3-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn An, Zhiguo verfasserin (orcid)0000-0001-9363-0172 aut Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing 2023 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. Crawler mobile mechanism Parallel robot Trajectory planning Multi-body dynamics Obstacle performance Zhou, Zhihong aut Li, Dailin aut Gao, Zhengyuan aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 111(2023), 18 vom: 04. Aug., Seite 16939-16962 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:111 year:2023 number:18 day:04 month:08 pages:16939-16962 https://doi.org/10.1007/s11071-023-08720-3 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 111 2023 18 04 08 16939-16962 |
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10.1007/s11071-023-08720-3 doi (DE-627)OLC2145090088 (DE-He213)s11071-023-08720-3-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn An, Zhiguo verfasserin (orcid)0000-0001-9363-0172 aut Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing 2023 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. Crawler mobile mechanism Parallel robot Trajectory planning Multi-body dynamics Obstacle performance Zhou, Zhihong aut Li, Dailin aut Gao, Zhengyuan aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 111(2023), 18 vom: 04. Aug., Seite 16939-16962 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:111 year:2023 number:18 day:04 month:08 pages:16939-16962 https://doi.org/10.1007/s11071-023-08720-3 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 111 2023 18 04 08 16939-16962 |
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10.1007/s11071-023-08720-3 doi (DE-627)OLC2145090088 (DE-He213)s11071-023-08720-3-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn An, Zhiguo verfasserin (orcid)0000-0001-9363-0172 aut Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing 2023 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. Crawler mobile mechanism Parallel robot Trajectory planning Multi-body dynamics Obstacle performance Zhou, Zhihong aut Li, Dailin aut Gao, Zhengyuan aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 111(2023), 18 vom: 04. Aug., Seite 16939-16962 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:111 year:2023 number:18 day:04 month:08 pages:16939-16962 https://doi.org/10.1007/s11071-023-08720-3 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 111 2023 18 04 08 16939-16962 |
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Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing |
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dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing |
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Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing |
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Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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Abstract A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot’s limited workspace and poor mobility. The robot’s obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20° in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance. © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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