Obstacle-climbing capability analysis of six-wheeled rocker-bogie lunar rover on loose soil

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	Obstacle-climbing capability analysis of six-wheeled rocker-bogie lunar rover on loose soil
	Yu XL(余晓流); Wang YM(汪永明); Wang ML(王美玲); Wang LF(汪丽芳)
	2009
会议名称	2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009
会议日期	December 16-18, 2009
会议地点	Singapore, Singapore
关键词	Bogies (railroad rolling stock) Geologic models Moon Robotics Soils Vehicles Wheels
页码	1183-1189
中文摘要	Taking six-wheeled rocker-bogie lunar rover as an object, on the basis of force analysis between the wheels and lunar soil, its obstacle-climbing force model on loose soil was established in this paper, and the wheel sinkages were obtained. Based on the method of solving the wheel's driving torque solution space feasible regions, this paper analyzed the forward obstacle-climbing capability of six-wheeled rocker-bogie lunar rover on loose soil, including single-wheel obstacle-climbing and two wheels obstacle-climbing simultaneously. Simulations show that under the loose soil environment, the wheels have different obstacle-climbing capability, i.e. the rear wheel is the best, the middle one is the worst and the front one is moderate. © 2009 Springer-Verlag Berlin Heidelberg.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
会议录出版者	Springer Verlag
会议录出版地	Heidelberg, Germany
语种	英语
ISSN号	0302-9743
ISBN号	978-3-642-10816-7
WOS记录号	WOS:000279602600116
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10455]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Yu XL,Wang YM,Wang ML,et al. Obstacle-climbing capability analysis of six-wheeled rocker-bogie lunar rover on loose soil[C]. 见:2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009. Singapore, Singapore. December 16-18, 2009.