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题名: Force model and its simulation analysis of wheel-legged lunar rover
作者: Wang YM(汪永明) ; Yu XL(余晓流) ; Fan, Tonghua ; Du XL(杜晓林)
作者部门: 机器人学研究室
会议名称: 2nd International Conference on Information Technology and Computer Science, ITCS2010
会议日期: July 24-25, 2010
会议地点: Kiev, Ukraine
会议主办者: National Technical University of Ukraine "KPI"; Ternopil National Economic University; Huazhong University of Science and Technology; Harbin Institute of Technology; Hubei University of Technology
会议录: Proceedings - 2nd International Conference on Information Technology and Computer Science, ITCS 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, USA
出版日期: 2010
页码: 122-125
收录类别: EI
ISBN号: 9780769540740
关键词: Computer science ; Information technology ; Moon ; Wheels
摘要: Based on the motion characteristics of double-half-revolution mechanism, a new-style wheel-legged lunar rover was proposed. In order to evaluate its maneuvering performance, the performance experiment of single wheellegged mechanism is needed. To simulate the loading conditions of single wheel-legged mechanism when the lunar rover is walking in flat ground, climbing up a slope or walking sideways in a slope, this paper analyzed their statics under the above three conditions, and set up their force models respectively. Using MATLAB software, the pressure loads which applied on each wheel-legged mechanism under the above three conditions are simulated, and their curves are given. The results provide a loading reference for the performance experiment of single wheel-legged mechanism. 
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10481
Appears in Collections:机器人学研究室_会议论文

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