中国机械工程 ›› 2010, Vol. 21 ›› Issue (03): 271-274,279.

• 机械基础工程 • 上一篇    下一篇

基于摇杆-转向架机构星球探测车的越障分析

汪丽芳1;余晓流1,3;汪永明1,2;高文斌3;王洪光3;王越超3
  

  1. 1.安徽工业大学,马鞍山,243002
    2.东南大学,南京,211189
    3.中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳,110015
  • 出版日期:2010-02-10 发布日期:2010-03-08
  • 基金资助:
    教育部高校科技创新工程重大项目培育资金资助项目(708054);机器人学国家重点实验室开放课题资助项目(RLO200816);安徽省高校自然科学基金资助重点项目(KJ2009A015Z) 
    Key Program of Anhui Provincial Natural Science Foundation of China(No. KJ2009A015Z)

Analysis of Crossing Obstacle Capability of Planet Exploration Rover with Rocker-bogie Structure

Wang Lifang1;Yu Xiaoliu1,3;Wang Yongming1,2;Gao Wenbin1;Wang Hongguang3;Wang Yuechao3   

  1. 1.Anhui University of Technology,Maanshan,Anhui,243002
    2.Southeast University, Nanjing,211189
    3.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sclences,Shenyang,110015
  • Online:2010-02-10 Published:2010-03-08
  • Supported by:
     
    Key Program of Anhui Provincial Natural Science Foundation of China(No. KJ2009A015Z)

摘要:

以六轮摇杆-转向架结构移动系统为研究对象进行准静力学分析。通过寻找车轮所受摩擦力解空间可行域的方法,对星球探测车越障性能进行研究。单侧前进越障的计算机仿真结果表明,在越障高度及与地面接触角相同的情况下,后轮的越障能力最强,中间轮最差,前轮适中。

关键词:

Abstract:

Taking a 6-wheel moving system of rocker-bogie structure as the subject for quasi-static force analysis, the crossing obstacle capability analysis of exploration rover was done through the method of finding the wheels' friction solution space region. The single side forward obstacle across capability simulation results show that when giving the same obstacle heights and the angles between wheels and ground, the rear wheel have the best obstacle capability, the middle one is the worst, and the front is moderate. 

Key words: rocker-bogie, force analysis, solution space region, crossing obstacle analysis

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