| 基于摇杆-转向架机构星球探测车的越障分析 |
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| 引用本文： | 汪丽芳,余晓流,汪永明,高文斌,王洪光,王越超.基于摇杆-转向架机构星球探测车的越障分析[J].中国机械工程,2010(3). |
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| 作者姓名： | 汪丽芳 余晓流 汪永明 高文斌 王洪光 王越超 |
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| 作者单位： | 安徽工业大学;中国科学院沈阳自动化研究所机器人学国家重点实验室;东南大学; |
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| 基金项目： | 教育部高校科技创新工程重大项目培育资金资助项目(708054); 机器人学国家重点实验室开放课题资助项目(RLO200816); 安徽省高校自然科学基金资助重点项目(KJ2009A015Z) |
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| 摘 要： | 以六轮摇杆-转向架结构移动系统为研究对象进行准静力学分析。通过寻找车轮所受摩擦力解空间可行域的方法,对星球探测车越障性能进行研究。单侧前进越障的计算机仿真结果表明,在越障高度及与地面接触角相同的情况下,后轮的越障能力最强,中间轮最差,前轮适中。
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| 关 键 词： | 摇杆-转向架 受力分析 解空间可行域 越障分析 |
Analysis of Crossing Obstacle Capability of Planet Exploration Rover with Rocker-bogie Structure |
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| Wang Lifang Yu Xiaoliu, Wang Yongming,Gao Wenbin Wang Hongguang Wang Yuechao.Anhui University of Technology,Maanshan,Anhui,.Southeast University,Nanjing,.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sclences,Shenyang.Analysis of Crossing Obstacle Capability of Planet Exploration Rover with Rocker-bogie Structure[J].China Mechanical Engineering,2010(3). |
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| Authors: | Wang Lifang Yu Xiaoliu Wang Yongming Gao Wenbin Wang Hongguang Wang YuechaoAnhui University of Technology Maanshan Anhui Southeast University Nanjing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sclences Shenyang |
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| Affiliation: | Wang Lifang1 Yu Xiaoliu1,3 Wang Yongming1,2Gao Wenbin1 Wang Hongguang3 Wang Yuechao31.Anhui University of Technology,Maanshan,Anhui,2430022.Southeast University,Nanjing,2111893.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sclences,Shenyang,110015 |
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| Abstract: | Taking a 6-wheel moving system of rocker-bogie structure as the subject for quasi-static force analysis,the crossing obstacle capability analysis of exploration rover was done through the method of finding the wheels' friction solution space region.The single side forward obstacle across capability simulation results show that when giving the same obstacle heights and the angles between wheels and ground,the rear wheel have the best obstacle capability,the middle one is the worst,and the front is moderate. |
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| Keywords: | rocker-bogie force analysis solution space region crossing obstacle analysis |
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