Kinematic modeling and analysis of novel eight-wheel lunar rover
GAO Hai-bo, Zhang Peng, DenZhongQuan, HuMing
State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China
Abstract:
A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.
Key words: kinematic modeling locomotion system eight-wheel lunar rover lunar rover
DOI：10.11916/j.issn.1005-9113.2009.06.003
Clc Number:TP242
Fund:
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Kinematic modeling and analysis of novel eight-wheel lunar rover
本站小编 哈尔滨工业大学/2019-10-23
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