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Force model and its simulation analysis of wheel-legged lunar rover
Wang YM(汪永明); Yu XL(余晓流); Fan, Tonghua; Du XL(杜晓林)
Department机器人学研究室
Conference Name2nd International Conference on Information Technology and Computer Science, ITCS2010
Conference DateJuly 24-25, 2010
Conference PlaceKiev, Ukraine
Author of SourceNational Technical University of Ukraine "KPI"; Ternopil National Economic University; Huazhong University of Science and Technology; Harbin Institute of Technology; Hubei University of Technology
Source PublicationProceedings - 2nd International Conference on Information Technology and Computer Science, ITCS 2010
PublisherIEEE Computer Society
Publication PlacePiscataway, USA
2010
Pages122-125
Indexed ByEI
EI Accession number20104213306985
Contribution Rank2
ISBN978-0-7695-4074-0
KeywordComputer Science Information Technology Moon Wheels
AbstractBased 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. 
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10481
Collection机器人学研究室
Affiliation1.School of Mechanical Engineering, Anhui University of Technology, Ma'anshan, China
2.School of Mechanical Engineering, Southeast University, Nanjing, China
3.State Key Laboratory of Robotics, Shenyang, China
Recommended Citation
GB/T 7714
Wang YM,Yu XL,Fan, Tonghua,et al. Force model and its simulation analysis of wheel-legged lunar rover[C]//National Technical University of Ukraine "KPI"; Ternopil National Economic University; Huazhong University of Science and Technology; Harbin Institute of Technology; Hubei University of Technology. Piscataway, USA:IEEE Computer Society,2010:122-125.
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