节点文献
月球漫游车斜面行走性能分析
Locomotion Performance Analysis of the Lunar Rover on a Slope
【Author】 Chang Yong~(1,3),Wang Hongguang~1,Ma Shugen~(1,2) Sui Chunping~1 1.State Key Laboratory of Robotics,Shenyang Institute of Automation,the Chinese Academy of Sciences,Shenyang 110016 2.Department of Robotics,Ritsumeikan University,Shiga-ken 525-8577,Japan 3.Graduate School of the Chinese Academy of Sciences,Beijing 100039
【机构】 机器人学国家重点实验室中国科学院沈阳自动化研究所； 中国科学院研究生院； 日本立命馆大学机器人系；
【摘要】 本文研究月球漫游车沿斜面行走的稳定性及爬坡性能。在分析单个车轮受力模型的基础上,结合摇臂转向架机构自身的约束,建立了车体的准静态力学模型。根据模型的特点以及车轮协调驱动的要求,确定车体在斜面上和在爬坡过程中优化求解车轮驱动力的目标函数,给出仿真计算结果,对车体在斜面上的稳定性及爬坡性能进行了分析。本文的研究为月球漫游车车轮的力矩控制提供理论依据。
【Abstract】 In this paper,the stability and locomotion of the lunar rover on a slope is studied.Based on the analysis of a single wheel’s force model and the mechanism constraints of"Rocker-Bogie"suspension,the quasi-static model of the rover is derived. The objective function for optimal solution of the driving forces of the wheels is introduced taken into account the characteristic of the quasi-static model and the demand of coordinate actuation of the wheels.The stability and the locomotion performance of the rover are analyzed by analyzing the simulation results.The study of this paper can provide theoretical basis for torque control of the wheels.
【Key words】 lunar rover； quasi-static model； performance analysis； stability on a slope；
- 【会议录名称】 2009中国控制与决策会议论文集（1）
- 【会议名称】2009中国控制与决策会议
- 【会议时间】2009-06-17
- 【会议地点】中国广西桂林
- 【分类号】V476.3
- 【主办单位】Northeastern University,China、IEEE Industrial Electronics (IE) Chapter,Singapore、Guilin University of Electronic Technology,China