Kinematics model of bionic wheel-legged lunar rover and its simulation analysis
文献类型：会议论文
| 作者 | Wang YM(汪永明); Yu XL(余晓流); Tang WC(汤文成) |
| 出版日期 | 2009 |
| 会议名称 | 2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009 |
| 会议日期 | December 16-18, 2009 |
| 会议地点 | Singapore, Singapore |
| 关键词 | Bionics Computer software Kinematics Mathematical models Moon Robotics |
| 页码 | 603-612 |
| 中文摘要 | Based on the principle of double-half-revolution mechanism, a new-style bionic wheel-legged lunar rover was designed in this paper. Its mobile mechanism is comprised of four identical wheel-legged mechanisms, rover body bracket and steering brackets, etc. On the basis of establishing the coordinate transformation models of the bionic wheel-legged mechanisms, kinematics of its mobile mechanism was analyzed, and the forward kinematics models of the striking rods were established. Based on kinematics simulation in COSMOS Motion software, this paper obtained the trail curves of joints relative to the reference coordinate system. Simulation shows that the fluctuation of the bionic wheel-legged lunar rover is small and it can realize the striding movement smoothly. © 2009 Springer-Verlag Berlin Heidelberg. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Heidelberg, Germany |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-642-10816-7 |
| WOS记录号 | WOS:000279602600060 |
| 源URL | [http://ir.sia.cn/handle/173321/10452]  |
| 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. Kinematics model of bionic wheel-legged lunar rover and its simulation analysis[C]. 见:2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009. Singapore, Singapore. December 16-18, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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