| 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) | |
| Department | 机器人学研究室 |
| Conference Name | 2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009 |
| Conference Date | December 16-18, 2009 |
| Conference Place | Singapore, Singapore |
| Source Publication | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
| Publisher | Springer Verlag |
| Publication Place | Heidelberg, Germany |
| 2009 | |
| Pages | 1183-1189 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20100712717391 |
| WOS ID | WOS:000279602600116 |
| Contribution Rank | 1 |
| ISSN | 0302-9743 |
| ISBN | 978-3-642-10816-7 |
| Keyword | Bogies (Railroad Rolling Stock) Geologic Models Moon Robotics Soils Vehicles Wheels |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/10455 |
| Collection | 机器人学研究室 |
| Affiliation | 1.Anhui University of Technology, Ma'anshan, 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 | Yu XL,Wang YM,Wang ML,et al. Obstacle-climbing capability analysis of six-wheeled rocker-bogie lunar rover on loose soil[C]. Heidelberg, Germany:Springer Verlag,2009:1183-1189. |
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| Obstacle-climbing ca（306KB） | 开放获取 | CC BY-NC-SA | View Download | |||
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