Li Jun, Fu Yongling, Wang Zhanlin, et al. Design and analysis of novel airborne integrated electro-hydrostatic actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(12): 1101-1104. (in Chinese)
Citation: Yu Xinyi, Gao Haibo, Deng Zongquanet al. Different kinematics modeling method and analyzing of new lunar rover with eight wheels[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(4): 457-463. (in Chinese)

Different kinematics modeling method and analyzing of new lunar rover with eight wheels

  • Received Date: 23 Apr 2008
  • Publish Date: 30 Apr 2009
  • 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.

     

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