Kinematic modeling and analysis of novel eight-wheel lunar rover

被引：0
|
作者：
高海波 [1 ]
张朋 [1 ]
邓宗全 [1 ]
胡明 [1 ]
机构：
[1] State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of Technology
来源：
Journal of Harbin Institute of Technology(New series) | 2009年 / 06期
基金：
中国国家自然科学基金;
关键词：
kinematic modeling; locomotion system; eight-wheel lunar rover; lunar rover;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.
引用
收藏
页码：751 / 755
页数：5
相关论文
共 50 条
  • [41] Kinematics Model of Bionic Wheel-Legged Lunar Rover and Its Simulation Analysis
    Wang, Yongming
    Yu, Xiaoliu
    Tang, Wencheng
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, PROCEEDINGS, 2009, 5928 : 603 - +
  • [42] A Horse Inspired Eight-wheel Unmanned Ground Vehicle with Four-swing Arms
    He, Miaolei
    He, Jilin
    Ren, Changji
    He, Qinghua
    [J]. 2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2020, : 7723 - 7728
  • [43] THE ROLE OF TERRAIN MODELING IN LUNAR ROVER SIMULATION
    RAO, NS
    APPLEBY, MH
    [J]. SIMULATION, 1993, 61 (01) : 60 - 68
  • [44] Mechanical Analysis and Performance Optimization for the Lunar Rover's Vane-Telescopic Walking Wheel
    Yang, Lu
    Cai, Bowen
    Zhang, Ronghui
    Li, Kening
    Zhang, Zixian
    Lei, Jiehao
    Chen, Baichao
    Wang, Rongben
    [J]. ENGINEERING, 2020, 6 (08) : 936 - 943
  • [45] A NEW-TYPE WHEEL-LEGGED LUNAR ROVER AND ITS MOBILE PERFORMANCE ANALYSIS
    Wang, Yongming
    Yu, Xiaoliu
    Tang, Wencheng
    [J]. ICMET 09: PROCEEDINGS OF THE 2009 INTERNATIONAL CONFERENCE ON MECHANICAL AND ELECTRICAL TECHNOLOGY, 2009, : 31 - 35
  • [46] Discrete element method analysis of single wheel performance for a small lunar rover on sloped terrain
    Nakashima, H.
    Fujii, H.
    Oida, A.
    Momozu, M.
    Kanamori, H.
    Aoki, S.
    Yokoyama, T.
    Shimizu, H.
    Miyasaka, J.
    Ohdoi, K.
    [J]. JOURNAL OF TERRAMECHANICS, 2010, 47 (05) : 307 - 321
  • [47] Analysis of drawbar pull to CE-4 Lunar rover based on rutting image of wheel
    Hu Z.-Y.
    Shen Y.
    Wang W.-J.
    Luo X.-T.
    Zou M.
    [J]. Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2023, 53 (09): : 2474 - 2482
  • [48] Leg-circle transformable wheel for improved runnability of a lunar rover
    Torisaka, Ayako
    Eguchi, Kohei
    Miura, Satoshi
    Parque, Victor
    Miyashita, Tomoyuki
    [J]. JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES, 2021, 32 (09) : 1013 - 1023
  • [49] A Survey on Torque Distribution of Rocker-bogied Lunar Rover Wheel
    Ke, Ma
    Quan, Miao Zhi
    Bo, Zhang
    [J]. 2011 INTERNATIONAL CONFERENCE ON COMPUTERS, COMMUNICATIONS, CONTROL AND AUTOMATION (CCCA 2011), VOL III, 2010, : 109 - 111
  • [50] Traction ability of lunar rover's driving wheel on different soils
    Zou, Meng
    Li, Jian-Qiao
    Zhang, Jin-Huan
    Liu, Guo-Min
    Li, Yin-Wu
    [J]. Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2010, 40 (01): : 25 - 29
12345