The analyse of the influence of external disturbance on the motion of a six-wheeled lunar rover
文献类型：会议论文
| 作者 | Gu KF(谷侃锋) ; Wang HG(王洪光); Zhao MY(赵明扬)
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 5-8, 2007 |
| 会议地点 | Harbin, China |
| 关键词 | six wheels lunar rover mobile robot motion characteristics steering characteristics external disturbance |
| 页码 | 393-398 |
| 中文摘要 | Since lunar rover may run on the uneven surface of the moon, it is inevitable for external disturbances cause the lunar rover's unexpected move. We investigate the effects of external disturbance. For the purpose of simplification, the sixwheeled-rocker-bogie lunar rover is considered as a six-wheeled vehicle with four steering wheels. Based on automotive theory, the steering dynamic equation is built. External disturbance is expressed as a force acted on the mass center of the rover. Laplace transform is introduced. Our research results show that the travel changes of the rovers will be different distinctly when the rovers with different steering characteristics are disturbed simultaneously. The US(under steering) lunar rover will restrain the motion caused by external disturbances, while the OS(over steering) lunar rover will further the motion caused by external disturbance. The conclusions we reached have important significance in guiding the design of lunar rover. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Natl Nat Sci Fdn China, Minist Educ China, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Univ Electro Commun, Univ Elect Sci & Technol China, Changchu Univ Sci & Technol, Beijing Univ Technol, IEEE Hong Kong Sect Joint RACS Chapter |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0827-6 |
| WOS记录号 | WOS:000251178100069 |
| 源URL | [http://ir.sia.cn/handle/173321/7924]  |
| 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,Wang HG,Zhao MY. The analyse of the influence of external disturbance on the motion of a six-wheeled lunar rover[C]. 见:IEEE International Conference on Mechatronics and Automation. Harbin, China. August 5-8, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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