Matches in SemOpenAlex for { <https://semopenalex.org/work/W2604403468> ?p ?o ?g. }
Showing items 1 to 81 of
81
with 100 items per page.
- W2604403468 endingPage "37" @default.
- W2604403468 startingPage "20" @default.
- W2604403468 abstract "Abstract This study presents the improvement of step-climbing capability of a new mobile robot called as RHyMo via kineto-static analysis. To this end, the kinematic analysis of the RHyMo is first performed to obtain the trajectory of its center of mass (CM) when it climbs up a step. Based on this CM trajectory, the linear/angular speeds and accelerations of its links are sequentially calculated. Different from the quasi-static analysis, the linear/angular accelerations are combined with the dynamic equations describing the force and moment equilibriums of RHyMo climbing the step, which are optimally solved by introducing the concept of the required friction coefficient in this study. This kineto-static analysis is repeatedly performed by changing the contact angle between the front track of RHyMo and the ground in order to minimize the torque required to climb the step. The simulations with different contact angles are carried out and then, the experiments using the RHyMo are performed, which can demonstrate that the trend of measured motor current is similar to that simulated by the kineto-static analysis and moreover, the step-climbing capability of the RHyMo is significantly improved by reducing the required motor currents by virtue of the kineto-static analysis." @default.
- W2604403468 created "2017-04-14" @default.
- W2604403468 creator A5023642117 @default.
- W2604403468 creator A5038452773 @default.
- W2604403468 creator A5049032346 @default.
- W2604403468 creator A5060342863 @default.
- W2604403468 creator A5071959542 @default.
- W2604403468 date "2017-08-01" @default.
- W2604403468 modified "2023-10-03" @default.
- W2604403468 title "Improvement of step-climbing capability of a new mobile robot RHyMo via kineto-static analysis" @default.
- W2604403468 cites W1997236617 @default.
- W2604403468 cites W2029569297 @default.
- W2604403468 cites W2053028456 @default.
- W2604403468 cites W2061399260 @default.
- W2604403468 cites W2070314802 @default.
- W2604403468 cites W2080584328 @default.
- W2604403468 cites W2081855158 @default.
- W2604403468 cites W2096062173 @default.
- W2604403468 cites W2144113438 @default.
- W2604403468 cites W2147346786 @default.
- W2604403468 cites W2302216468 @default.
- W2604403468 cites W2343298214 @default.
- W2604403468 cites W2554291207 @default.
- W2604403468 doi "https://doi.org/10.1016/j.mechmachtheory.2017.03.018" @default.
- W2604403468 hasPublicationYear "2017" @default.
- W2604403468 type Work @default.
- W2604403468 sameAs 2604403468 @default.
- W2604403468 citedByCount "18" @default.
- W2604403468 countsByYear W26044034682017 @default.
- W2604403468 countsByYear W26044034682018 @default.
- W2604403468 countsByYear W26044034682019 @default.
- W2604403468 countsByYear W26044034682020 @default.
- W2604403468 countsByYear W26044034682021 @default.
- W2604403468 countsByYear W26044034682022 @default.
- W2604403468 countsByYear W26044034682023 @default.
- W2604403468 crossrefType "journal-article" @default.
- W2604403468 hasAuthorship W2604403468A5023642117 @default.
- W2604403468 hasAuthorship W2604403468A5038452773 @default.
- W2604403468 hasAuthorship W2604403468A5049032346 @default.
- W2604403468 hasAuthorship W2604403468A5060342863 @default.
- W2604403468 hasAuthorship W2604403468A5071959542 @default.
- W2604403468 hasConcept C127413603 @default.
- W2604403468 hasConcept C133731056 @default.
- W2604403468 hasConcept C154945302 @default.
- W2604403468 hasConcept C19966478 @default.
- W2604403468 hasConcept C41008148 @default.
- W2604403468 hasConcept C44154836 @default.
- W2604403468 hasConcept C66938386 @default.
- W2604403468 hasConcept C90509273 @default.
- W2604403468 hasConcept C95038775 @default.
- W2604403468 hasConceptScore W2604403468C127413603 @default.
- W2604403468 hasConceptScore W2604403468C133731056 @default.
- W2604403468 hasConceptScore W2604403468C154945302 @default.
- W2604403468 hasConceptScore W2604403468C19966478 @default.
- W2604403468 hasConceptScore W2604403468C41008148 @default.
- W2604403468 hasConceptScore W2604403468C44154836 @default.
- W2604403468 hasConceptScore W2604403468C66938386 @default.
- W2604403468 hasConceptScore W2604403468C90509273 @default.
- W2604403468 hasConceptScore W2604403468C95038775 @default.
- W2604403468 hasFunder F4320321408 @default.
- W2604403468 hasFunder F4320322120 @default.
- W2604403468 hasLocation W26044034681 @default.
- W2604403468 hasOpenAccess W2604403468 @default.
- W2604403468 hasPrimaryLocation W26044034681 @default.
- W2604403468 hasRelatedWork W1556391057 @default.
- W2604403468 hasRelatedWork W2073845749 @default.
- W2604403468 hasRelatedWork W2096253508 @default.
- W2604403468 hasRelatedWork W2138930414 @default.
- W2604403468 hasRelatedWork W2144563130 @default.
- W2604403468 hasRelatedWork W2337146448 @default.
- W2604403468 hasRelatedWork W2786412097 @default.
- W2604403468 hasRelatedWork W4241517247 @default.
- W2604403468 hasRelatedWork W4297491402 @default.
- W2604403468 hasRelatedWork W3021595220 @default.
- W2604403468 hasVolume "114" @default.
- W2604403468 isParatext "false" @default.
- W2604403468 isRetracted "false" @default.
- W2604403468 magId "2604403468" @default.
- W2604403468 workType "article" @default.