Study on the Dynamics and Motion Capability of the Planetary Rover with Asymmetric Mobility System

摘要：

Mobility system is the key part of planetary rover which determines the effects of planet exploration. A rover with asymmetric mobility system is proposed for enhancing locomotion performance in rough terrain. The rover has an integral and statically indeterminate structure with six wheels asymmetrically joined at the two sides by suspension mechanism. Suspension configuration can be actively controlled to improve the rover mobility in high challenging terrains. Newton-Euler method is used to establish dynamics model, the geometry and velocity constraints are given to solve the dynamics equations. Some simulations are done to validate the dynamics model and study the dynamics performance of the rover in representative terrain. Some experiments testify strong obstacle overcoming and ditch passing capability of the rover.

关键词： Planetary rover Asymmetric mobility system Newton-Euler method Dynamics model Motion capability

作者: Jianjun DU Mingjun REN Jianjun ZHU Dun LIU

作者单位: Shenzhen Graduate School Harbin Institute of Technology Shenzhen,Guangdong Province 518055,China School of Astronautics Harbin Institute of Technology Harbin,Heilongjiang Province 150001,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）