SIA OpenIR  > 智能产线与系统研究室
The analyse of the influence of external disturbance on the motion of a six-wheeled lunar rover
Gu KF(谷侃锋); Wang HG(王洪光); Zhao MY(赵明扬)
Department现代装备研究室
Conference NameIEEE International Conference on Mechatronics and Automation
Conference DateAugust 5-8, 2007
Conference PlaceHarbin, China
Author of SourceIEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Natl Nat Sci Fdn China, Minist Educ China, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Univ Electro Commun, Univ Elect Sci & Technol China, Changchu Univ Sci & Technol, Beijing Univ Technol, IEEE Hong Kong Sect Joint RACS Chapter
Source Publication2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS
PublisherIEEE
Publication PlaceNEW YORK
2007
Pages393-398
Indexed ByEI ; CPCI(ISTP)
EI Accession number20075110979252
WOS IDWOS:000251178100069
Contribution Rank1
ISBN978-1-4244-0827-6
KeywordSix Wheels Lunar Rover Mobile Robot Motion Characteristics Steering Characteristics External Disturbance
AbstractSince lunar rover may run on the uneven surface of the moon, it is inevitable for external disturbances cause the lunar rover's unexpected move. We investigate the effects of external disturbance. For the purpose of simplification, the sixwheeled-rocker-bogie lunar rover is considered as a six-wheeled vehicle with four steering wheels. Based on automotive theory, the steering dynamic equation is built. External disturbance is expressed as a force acted on the mass center of the rover. Laplace transform is introduced. Our research results show that the travel changes of the rovers will be different distinctly when the rovers with different steering characteristics are disturbed simultaneously. The US(under steering) lunar rover will restrain the motion caused by external disturbances, while the OS(over steering) lunar rover will further the motion caused by external disturbance. The conclusions we reached have important significance in guiding the design of lunar rover.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7924
Collection智能产线与系统研究室
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
2.Graduate School, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Gu KF,Wang HG,Zhao MY. The analyse of the influence of external disturbance on the motion of a six-wheeled lunar rover[C]//IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Natl Nat Sci Fdn China, Minist Educ China, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Univ Electro Commun, Univ Elect Sci & Technol China, Changchu Univ Sci & Technol, Beijing Univ Technol, IEEE Hong Kong Sect Joint RACS Chapter. NEW YORK:IEEE,2007:393-398.
Files in This Item:
File Name/Size DocType Version Access License
HYQW001122.pdf(264KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Gu KF(谷侃锋)]'s Articles
[Wang HG(王洪光)]'s Articles
[Zhao MY(赵明扬)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Gu KF(谷侃锋)]'s Articles
[Wang HG(王洪光)]'s Articles
[Zhao MY(赵明扬)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Gu KF(谷侃锋)]'s Articles
[Wang HG(王洪光)]'s Articles
[Zhao MY(赵明扬)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: HYQW001122.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.