Volume 35 Issue 4
Apr.  2009
Turn off MathJax
Article Contents
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)
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.

     

  • loading
  • [1] Randel A, Brian D,Ary M, et al. Mars exploration rover mobility development: mechanical mobility hardware design, development, and testing[J].IEEE Robotics & Automation Magazine, 2006, 13:19-26 [2] Volpe R,Balaram J, Ohm T, et al. Rocky 7 Mars rover prototype IEEE International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE,1996,3:1558-1564 [3] 邓宗全,胡明,高海波,等.月球探测车的运动学建模[J].中国机械工程,2003,22:1911-1913 Deng Zongquan,Hu Ming,Gao Haibo,et al. Kinematics modeling of the lunar rover[J].China Mechanical Engineering,2003,22:1911-1913(in Chinese) [4] 陶建国,邓宗全,高海波,等.六圆柱-圆锥轮式月球车的设计[J].哈尔滨工业大学学报,2006,1:4-7 Tao Jianguo,Deng Zongquan,Gao Haibo,et al. Design of a lunar rover with six cylinder-conical wheels[J].Journal of Harbin Institute of Technology, 2006,1:4-7(in Chinese) [5] 付京逊,冈萨雷斯.机器人学:控制、传感技术、视觉、智能[M].北京:中国科学技术出版社,1989:26-27 Fu Jingxun, Gonzales R C. Robotics: control, sensing, vision, and intelligence[M].Beijing:China Electronic Science and Technology Press,1989:26-27(in Chinese) [6] Tarokh M, McDermott G, Hayati S, et al. Kinematics modeling of high mobile Mars rover IEEE International Conference on Robotics and Automation. Piscataway,NJ:IEEE,1999:992-998 [7] 张铁.机器人学[M]. 广州:华南理工大学出版社,2001:85-87 Zhang Tie. Robotics[M].Guangzhou:South China University of Technology Press,2001,85-87(in Chinese) [8] Hacot H. Analysis and traction control of a rocker-bogie planetary rover .Massachusetts:Massachusetts Institute of Technology,1998:22-24
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3433) PDF downloads(970) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return