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Kinematics model of bionic wheel-legged lunar rover and its simulation analysis
Wang YM(汪永明); Yu XL(余晓流); Tang WC(汤文成)
Department机器人学研究室
Conference Name2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009
Conference DateDecember 16-18, 2009
Conference PlaceSingapore, Singapore
Source PublicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Publication PlaceHeidelberg, Germany
2009
Pages603-612
Indexed ByEI ; CPCI(ISTP)
EI Accession number20100712717458
WOS IDWOS:000279602600060
Contribution Rank2
ISSN0302-9743
ISBN978-3-642-10816-7
KeywordBionics Computer Software Kinematics Mathematical Models Moon Robotics
AbstractBased 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.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10452
Collection机器人学研究室
Affiliation1.Anhui University of Technology, Maanshan, Anhui Province, China
2.Southeast University, Nanjing, Jiangsu Province, China
3.State Key Laboratory of Robotics, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Wang YM,Yu XL,Tang WC. Kinematics model of bionic wheel-legged lunar rover and its simulation analysis[C]. Heidelberg, Germany:Springer Verlag,2009:603-612.
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