A Judgment Criterion of Crossing Obstacle Ability for Lunar Rover with Track Angle
文献类型：会议论文
| 作者 | Gu KF(谷侃锋) ; Yang GY(杨国永)
|
| 出版日期 | 2011 |
| 会议名称 | 2011 International Conference on Mechatronics and Information Technology |
| 会议日期 | August 16-19, 2011 |
| 会议地点 | Shenyang, China |
| 关键词 | Mobile robot traversing obstacles Track angle Judgment criterion Torque optimization Rocker bogie |
| 页码 | 384-389 |
| 通讯作者 | 谷侃锋 |
| 中文摘要 | The problem of traversing obstacles for a six-wheeled rocker bogie lunar rover is presented. Based on the analysis of forces and rover movement track angle, a criterion to determine traversing obstacles ability for the rover is developed to predict whether the robot can overcome current obstacle. The concept of traversing obstacles ability index is presented, which can be used to describe the trafficability of the rover quantificationally. The caculated results of wheels driving torques by this method can be used as a reference for confirming appropriate driving torque with the wheels during they challenge the terrain. A numerical example is given to illustrate our method |
| 收录类别 | CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Natural Science Foundation of China (NSFC), |
| 会议录 | Advanced Engineering Forum
 |
| 会议录出版者 | Trans Tech Publications Inc |
| 会议录出版地 | Enfield, NH |
| 语种 | 英语 |
| ISSN号 | 2234-991X |
| ISBN号 | 978-3-03785-336-8 |
| WOS记录号 | WOS:000317993700074 |
| 源URL | [http://ir.sia.cn/handle/173321/7862]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 推荐引用方式 GB/T 7714 | Gu KF,Yang GY. A Judgment Criterion of Crossing Obstacle Ability for Lunar Rover with Track Angle[C]. 见:2011 International Conference on Mechatronics and Information Technology. Shenyang, China. August 16-19, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。