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仿生轮腿式月球车运动学建模与虚拟样机仿真分析
Alternative TitleKinematics Modeling and Virtual Prototype Simulation Analysis of Bionic Wheel-legged Lunar Rover
汪永明; 余晓流; 汤文成
Department机器人学研究室
Source Publication机械科学与技术
ISSN1003-8728
2010
Volume29Issue:9Pages:1158-1162
Indexed ByCSCD
CSCD IDCSCD:4025839
Contribution Rank3
Funding Organization教育部高校科技创新工程重大培育资金项目(708054); 机器人学国家重点实验室开放课题(RLO200816); 安徽省高校自然科学基金重点课题(KJ2009A015Z)资助
Keyword仿生轮腿式月球车 二级半转机构 运动学建模 仿真分析
Abstract根据动物运动的不对称性,设计了一种新型的仿生轮腿式月球车,其移动机构由4个结构相同的轮腿、车体支架以及转向支架3部分构成。在建立仿生轮腿机构坐标变换模型基础上,对月球车移动机构进行了运动学分析,建立了各跨步杆端部的正向运动学模型。基于COSMOS Motion软件对该月球车进行了运动学仿真,给出了移动机构各关节相对于车体质心参考坐标系下的运动轨迹曲线,并对其越障过程进行了虚拟样机运动仿真。仿真表明:该月球车的车身起伏度较小,可以平滑地完成越障跨步动作。
Other AbstractBased on the asymmetric motion of animals,a new-style bionic wheel-legged lunar rover was designed.Its mobile mechanism is composed of four identical wheel-legged structures,a rover body bracket and steering brackets,etc.On the basis of establishing the coordinate transformation models of the bionic wheel-legged structures,kinematics analysis of its mobile mechanism was done,and the forward kinematics models of striking rods were established.Based on the kinematics simulation in COSMOS Motion software,we ob...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7174
Collection机器人学研究室
Corresponding Author汪永明
Affiliation1.东南大学机械工程学院,江苏 南京 211189
2.安徽工业大学机械工程学院,安徽 马鞍山 243002
3.机器人学国家重点实验室,辽宁 沈阳 110016
Recommended Citation
GB/T 7714
汪永明,余晓流,汤文成. 仿生轮腿式月球车运动学建模与虚拟样机仿真分析[J]. 机械科学与技术,2010,29(9):1158-1162.
APA 汪永明,余晓流,&汤文成.(2010).仿生轮腿式月球车运动学建模与虚拟样机仿真分析.机械科学与技术,29(9),1158-1162.
MLA 汪永明,et al."仿生轮腿式月球车运动学建模与虚拟样机仿真分析".机械科学与技术 29.9(2010):1158-1162.
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