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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)
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
Pages1183-1189
Indexed ByEI ; CPCI(ISTP)
EI Accession number20100712717391
WOS IDWOS:000279602600116
Contribution Rank1
ISSN0302-9743
ISBN978-3-642-10816-7
KeywordBogies (Railroad Rolling Stock) Geologic Models Moon Robotics Soils Vehicles Wheels
AbstractTaking 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
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10455
Collection机器人学研究室
Affiliation1.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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