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�������պ����ѧѧ�� 2007, Vol. 33 Issue (12) :1408-1411    DOI:
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Design and performance simulation of a new type wheel with claws
Yue Ronggang, Wang Shaoping, Jiao Zongxia, Kang Rongjie*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Aiming at the disadvantages of current planetary rover wheel, a new type climbing obstacle wheel with claws was designed according to the complex planetary surface environment. Its main innovation is the claw on wheel. Mechanics analysis of the new type climbing obstacle wheel was computed, and the steady running condition was deduced. It offered designers several theory foundations. A three-dimensional planetary rover model with the new type climbing obstacle wheels was built by Pro/ENGINEER software, and kinematic and dynamic simulation of the wheel was given by ADAMS(automatic dynamic analysis of mechanical systems) software. The simulation results show that the new type wheel has strong crossing obstacle capabilities. It can scale the step whose height is 1.4 times than the wheel radius, and can adapt itself to all kinds of rough and uneven terrain environment. The new type wheel overcomes disadvantages and shortages of current rover wheels.
Keywords�� planetary rover   crossing obstacle   wheel   simulation     
Received 2006-12-21;

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���ٸ�,����Ƽ,������,���ٽ�.һ��������צʽ������������ܷ���[J]  �������պ����ѧѧ��, 2007,V33(12): 1408-1411
Yue Ronggang, Wang Shaoping, Jiao Zongxia, Kang Rongjie.Design and performance simulation of a new type wheel with claws[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(12): 1408-1411
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