Analysis of obstacle-climbing capability of planetary exploration rover with rocker-bogie structure

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Analysis of obstacle-climbing capability of planetary exploration rover with rocker-bogie structure
	Wang YM(汪永明); Yu XL(余晓流); Tang WC(汤文成)
	2009
会议名称	2009 International Conference on Information Technology and Computer Science, ITCS 2009
会议日期	July 25-26, 2009
会议地点	Kiev, Ukraine
关键词	Bogies (railroad rolling stock) Computer science Contact angle Information technology Interplanetary spacecraft Mathematical models Mobile robots Vehicles
页码	329-332
中文摘要	Wheeled mobile robots are increasingly being utilized in unknown and dangerous situations such as planetary surface exploration. Based on force analysis of the differential joints and force analysis between the wheels and the ground, this paper established the quasi-static mathematical model of the 6-wheel mobile system of planetary exploration rover with rocker-bogie structure. Considering the constraint conditions, with the method of finding the wheels; friction force solution space feasible region, obstacle-climbing capability of the mobile mechanism was analyzed. Given the same obstacle heights and contact angles of wheel-ground, the single side forward obstacle-climbing of the wheels was simulated respectively, and the results show that the rear wheel has the best obstacle-climbing capability, the middle wheel is the worst, and the front wheel is moderate.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议录	Proceedings - 2009 International Conference on Information Technology and Computer Science, ITCS 2009
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, USA
语种	英语
ISBN号	978-0-7695-3688-0
WOS记录号	WOS:000270803600078
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10483]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wang YM,Yu XL,Tang WC. Analysis of obstacle-climbing capability of planetary exploration rover with rocker-bogie structure[C]. 见:2009 International Conference on Information Technology and Computer Science, ITCS 2009. Kiev, Ukraine. July 25-26, 2009.