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�������պ����ѧѧ�� 2009, Vol. 35 Issue (4) :457-463    DOI:
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���ΠD, �ߺ���, ����ȫ*
��������ҵ��ѧ �����˼�����ϵͳ�����ص�ʵ����, ������ 150001
Different kinematics modeling method and analyzing of new lunar rover with eight wheels
Yu Xinyi, Gao Haibo, Deng Zongquan*
State Key Laboratory of Technology System on Robot, Harbin Institute of Technology, Harbin 150001, China

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Abstract�� In order to improve lunar rover-s autonomous navigation, path planning and simulation of trafficability in rough terrain, different kinematics models should be made. A new type of lunar rover was presented and three different kinematics models were made based on rover-s mechanical characterization and contact situation between terrain and rover. Using D-H transform modeling method of joint robot, plane geometry kinematics relation and 3D geometry kinematics relation, three types of kinematics models of eight-wheel torsion bar rocker-bogie lunar rover were deduced. Then the comparative analysis on three different kinematics models was produced with their respective application conditions and scope. The new lunar rover-s kinematics model can be as model of multi-wheels coordinated motion control and kinematics solver of rover in simulation environment.
Keywords�� kinematics model   lunar rover   Denavit-Hartenberg transform     
Received 2008-04-23;

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About author: ���ΠD(1979-),��,�㽭��Ҧ��,��ʿ��,yuxinyinet@163.com.
���ΠD, �ߺ���, ����ȫ.���Ͱ������򳵲�ͬ�˶�ѧ��ģ����������[J]  �������պ����ѧѧ��, 2009,V35(4): 457-463
Yu Xinyi, Gao Haibo, Deng Zongquan.Different kinematics modeling method and analyzing of new lunar rover with eight wheels[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2009,V35(4): 457-463
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