Analysis on Three Kinds of Framework for Sojourners Six-wheeled Rocker Suspension
The climbing vertical obstacle capability is one of the important assesment indicator for the planet exploration vehicle. The Sojourner planet rover represents the leading level of a hot research area-the wheel style. The analysis of Sojourners over-obstacle principle and its process were introduced, and it was expressed by 7 parameters. The selection of the driven moment for the machine and the mathematic model were also discussed. According to the actual movement, the rolling friction was drawn into the model and an instance was given. Finally, the capability of triangle, rectangle, arc framework was analysed and researched based on the mechanics model of Sojourners six-wheeled rocker suspension, their mathematic models were established using the same method as the second part of the paper, and sketchs of the obstacle crossing capability were drawed using Matlab, then the triangle framework was proved to have the best capability.
rocker suspension obstacle crossing triangle framework rectangle framework arc framework
MA Jin-sheng CHENG Jiu-rui ZHUANG Da-min GONG Hao-qin
BEIHANG University, 37＃ Xueyuan Road, Haidian District,BeiJing, 100191 China
国际会议
2009 International Workshop on Information Security and Application(2009 信息安全与应用国际研讨会)
青岛
英文
62-65
2009-11-21（万方平台首次上网日期，不代表论文的发表时间）