原地转向

在结构研究的基础上，对该系列机器人的几种特殊工作状况包括原地转向、越障、翻身、自撑起动作做了整体动力学分析，使用MATLAB进行仿真，得出了相应的驱动力关系。

Making dynamics analysis on several special working condition on the basis of structure design and simulating through MATLAB to obtain the analysis result .

简化地面条件下履带起重机原地转向研究

Investigation into in-situ steering for crawler cranes under simplified ground

轮式拖拉机原地转向阻力矩的分析与实验

Analysis and experiment of resistant torque of wheeled tractor at static turn

轮胎原地转向离散仿真模型

The Discrete Simulation Model for Tire Parking Maneuver

原地转向电动汽车参数化模型的建立

Parameterized modeling of spot steering electric vehicle

轮缘半径对月球车鼓形轮原地转向阻力矩影响分析

Influence of Rim Radius on Zero Radius Steering Resistance Moment of Drum-wheel for Lunar Rover

基于动作基元的行走轨迹规划及其在原地转向型机器人中的应用

Walking Trajectory Planning Based on Basic Action Element and the Application in the Central-position Turning Robot

轮式铰接车辆原地转向过程及阻力矩分析齿轮式转向机构

Pivot steering course and resistant moment analysis in wheel type articulated vehicles . Gear Steering Mechanism

给出不同工况下原地转向时轮胎所受回正力矩，并进行了试验验证。

The aligning torque was presented under different tire parking maneuver condition , and test verification is done .

然后研究了全方位移动操作臂全方位行走与原地转向两种模式的运动控制以及机械臂的运动控制。

Secondly the control of ODMM about omni-directional motion , point-turn motion and mechanical arms motion is studied .

通过仿真表明，曲线型的助力特性基本能满足原地转向和低速行驶的轻便性和高速行驶的路感性要求。

The result of simulation indicates that the curve assist characteristic can meet the request of both the easy on the low speed and road feel on high speed .

研究了载货汽车原地转向阻力的主要组成及动力转向器的效率特性，给出了原地转向性能的计算分析方法。

Composition of resistance force of pivot steering of trucks and efficiency characteristics of the steering gear is studied , and the calculation and analysis method of pivot steering performance is presented .

简要介绍了足式步行机器人步态规划及仿真，针对本文研究的类壁虎爬壁机器人，设计了对角小跑步态、三角爬行步态和原地转向步态，解决了机器人运动中的过驱动问题。

Then gait design and simulation for leg robot was described and gaits for quadruped trotting , crawling and pivot steering was designed . Furthermore , the problem of overdriving was solved .

结果表明，该离散仿真模型能较好的反应轮胎的原地转向特性，能方便地分析轮胎结构参数及印迹内压力分布对原地转向特性的影响。

The results show that the model is good enough at showing the tire parking maneuver characteristics , conveniently analyzing the effects of the tire structure parameters and pressure distribution on the parking maneuver .

转向时，不可将方向“打死”，特别是在原地转向时，要留有一定的余量，保证液压转向系统处于正常工作状态。

Shift , the direction can not be " killed ", especially when turning in place , it is necessary to leave some margin to ensure that the hydraulic steering system is in normal working condition .

分析了移动机器人的运动模型，建立了在原地转向、差速驱动、四轮转向等情况下，机器人的期望路径与各被控参量间的关系。

It analyzed on the movement model of mobile robot , and established the relationship between expecting path of robots and parameters controlled under the circumstances of pivot steering , differential driving , four-wheel steering and others .

通过对4种动力转向系统匹配方案的分析表明，转向机构的传动比和动力转向器的效率对车辆原地转向性能具有重要影响。

It is shown by analysis of four matching concepts of the power steering system that the gear ratio of a steering mechanism and efficiency of a power steering gear have great influences on vehicle pivot steering performance .