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题名: Kinematics model of bionic wheel-legged lunar rover and its simulation analysis
作者: Wang YM(汪永明) ; Yu XL(余晓流) ; Tang WC(汤文成)
作者部门: 机器人学研究室
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
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
出版日期: 2009
页码: 603-612
收录类别: CPCI(ISTP) ; EI
ISSN号: 0302-9743
ISBN号: 9783642108167
关键词: Bionics ; Computer software ; Kinematics ; Mathematical models ; Moon ; Robotics
摘要: Based on the principle of double-half-revolution mechanism, a new-style bionic wheel-legged lunar rover was designed in this paper. Its mobile mechanism is comprised of four identical wheel-legged mechanisms, rover body bracket and steering brackets, etc. On the basis of establishing the coordinate transformation models of the bionic wheel-legged mechanisms, kinematics of its mobile mechanism was analyzed, and the forward kinematics models of the striking rods were established. Based on kinematics simulation in COSMOS Motion software, this paper obtained the trail curves of joints relative to the reference coordinate system. Simulation shows that the fluctuation of the bionic wheel-legged lunar rover is small and it can realize the striding movement smoothly. © 2009 Springer-Verlag Berlin Heidelberg.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10452
Appears in Collections:机器人学研究室_会议论文

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