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题名: Analysis of obstacle-climbing capability of planetary exploration rover with rocker-bogie structure
作者: Wang YM(汪永明) ; Yu XL(余晓流) ; Tang WC(汤文成)
作者部门: 机器人学研究室
会议名称: 2009 International Conference on Information Technology and Computer Science, ITCS 2009
会议日期: July 25-26, 2009
会议地点: Kiev, Ukraine
会议录: Proceedings - 2009 International Conference on Information Technology and Computer Science, ITCS 2009
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, USA
出版日期: 2009
页码: 329-332
收录类别: EI
ISBN号: 9780769536880
关键词: Bogies (railroad rolling stock) ; Computer science ; Contact angle ; Information technology ; Interplanetary spacecraft ; Mathematical models ; Mobile robots ; Vehicles
摘要: Wheeled mobile robots are increasingly being utilized in unknown and dangerous situations such as planetary surface exploration. Based on force analysis of the differential joints and force analysis between the wheels and the ground, this paper established the quasi-static mathematical model of the 6-wheel mobile system of planetary exploration rover with rocker-bogie structure. Considering the constraint conditions, with the method of finding the wheels; friction force solution space feasible region, obstacle-climbing capability of the mobile mechanism was analyzed. Given the same obstacle heights and contact angles of wheel-ground, the single side forward obstacle-climbing of the wheels was simulated respectively, and the results show that the rear wheel has the best obstacle-climbing capability, the middle wheel is the worst, and the front wheel is moderate. 
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10483
Appears in Collections:机器人学研究室_会议论文

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