| 基于半转机构月球车硬地面越障性能分析 |
| |
| 引用本文： | 王美玲,汪永明,余晓流. 基于半转机构月球车硬地面越障性能分析[J]. 机械科学与技术, 2011, 0(2) |
| |
| 作者姓名： | 王美玲 汪永明 余晓流 |
| |
| 作者单位： | 安徽工业大学;东南大学;机器人学国家重点实验室; |
| |
| 基金项目： | 教育部高校科技创新工程重大培养项目(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项目(KJ2009A015Z)资助 |
| |
| 摘 要： | 针对半转机构月球车的结构特点,对月球车在任意路面的越障能力进行了分析。由于任意路面越障模型相对复杂,可以建立的独立平衡方程数目少于未知变量数,为此提出了一种新的越障能力评价指标,指出摩擦力解空间的可行域面积越大,轮腿越障能力越强;当轮腿所受摩擦力可行域不存在时,机构将不具有初始条件下的越障能力。建立了在约束条件下月球车在具有坡度地面和一定越障高度的越障力学模型,并通过寻找轮腿所受摩擦力解空间可行域的方法,对单轮腿在具有坡度地面上单独前进越障性能进行了仿真研究。仿真结果表明:在越障高度及与地面接触角相同的情况下,后轮腿的越障能力比前轮腿强。
|
| 关 键 词： | 月球车 半转机构 越障能力 仿真 |
Obstacle-climbing Capability Analysis of a Lunar Rover with a Half-rotating Mechanism on Hard Land |
| |
| Wang Meiling,Wang Yongming,Yu Xiaoliu. Obstacle-climbing Capability Analysis of a Lunar Rover with a Half-rotating Mechanism on Hard Land[J]. Mechanical Science and Technology for Aerospace Engineering, 2011, 0(2) |
| |
| Authors: | Wang Meiling Wang Yongming Yu Xiaoliu |
| |
| Abstract: | The obstacle-climbing performance on arbitrary road surface was analyzed according to the characteristics of the lunar rover based on a half-rotating mechanism.Because the obstacle-climbing model of arbitrary road surface was relatively complicated and the numbers of independent equation were less than those of unknown variables,a new judging standard of the obstacle-climbing capability was presented.We point out that the larger the friction feasible region,the stronger the obstacle-climbing ability,and tha... |
| |
| Keywords: | lunar rover half-rotating mechanism obstacle-climbing capability simulation |
| 本文献已被 CNKI 等数据库收录！ |
|
