| 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 |
| 引用统计 | |
| 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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| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| Obstacle-climbing ca（306KB） | 开放获取 | CC BY-NC-SA | 浏览 下载 | |||
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