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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)
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
会议录名称Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
出版者Springer Verlag
出版地Heidelberg, Germany
2009
页码1183-1189
收录类别EI ; CPCI(ISTP)
EI收录号20100712717391
WOS记录号WOS:000279602600116
产权排序1
ISSN号0302-9743
ISBN号978-3-642-10816-7
关键词Bogies (Railroad Rolling Stock) Geologic Models Moon Robotics Soils Vehicles Wheels
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.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10455
专题机器人学研究室
作者单位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
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]. Heidelberg, Germany:Springer Verlag,2009:1183-1189.
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