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题名: 月球漫游车斜面行走性能分析
其他题名: Locomotion Performance Analysis of the Lunar Rover on a Slope
作者: 常勇 ; 王洪光 ; 马书根 ; 隋春平
作者部门: 机器人学研究室
会议名称: 21st Chinese Control and Decision Conference
会议日期: June 17-19, 2009
会议地点: Guilin, China
会议主办者: NE Univ, IEEE Ind Elect Singapore Chapter, Guilin Univ Elect Technol, IEEE Control Syst Soc, IEEE Ind Elect Soc
会议录: CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2009
页码: 636-641
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2723-9
关键词: 月球漫游车 ; 准静态力模型 ; 力性能分析 ; 斜面稳定性
摘要: 本文研究月球漫游车沿斜面行走的稳定性及爬坡性能。在分析单个车轮受力模型的基础上,结合摇臂转向架机构自身的约束,建立了车体的准静态力学模型。根据模型的特点以及车轮协调驱动的要求,确定车体在斜面上和在爬坡过程中优化求解车轮驱动力的目标函数,给出仿真计算结果,对车体在斜面上的稳定性及爬坡性能进行了分析。本文的研究为月球漫游车车轮的力矩控制提供理论依据
英文摘要: In this paper, the stability and locomotion of the lunar rover on a slope is studied. Based on the analysis of a single wheel's force model and the mechanism constraints of "Rocker-Bogie" suspension, the quasi-static model of the rover is derived. The objective function for optimal solution of the driving forces of the wheels is introduced taken into account the characteristic of the quasi-static model and the demand of coordinate actuation of the wheels. The stability and the locomotion performance of the rover are analyzed by analyzing the simulation results. The study of this paper can provide theoretical basis for torque control of the wheels.
语种: 中文
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8966
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
常勇; 王洪光; 马书根; 隋春平.月球漫游车斜面行走性能分析.见:IEEE .CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS,NEW YORK,2009,636-641
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