Analysis of obstacle-climbing capability of planetary exploration rover with rocker-bogie structure
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 | 2009 International Conference on Information Technology and Computer Science, ITCS 2009 |
| 会议日期 | July 25-26, 2009 |
| 会议地点 | Kiev, Ukraine |
| 关键词 | Bogies (railroad rolling stock) Computer science Contact angle Information technology Interplanetary spacecraft Mathematical models Mobile robots Vehicles |
| 页码 | 329-332 |
| 中文摘要 | Wheeled mobile robots are increasingly being utilized in unknown and dangerous situations such as planetary surface exploration. Based on force analysis of the differential joints and force analysis between the wheels and the ground, this paper established the quasi-static mathematical model of the 6-wheel mobile system of planetary exploration rover with rocker-bogie structure. Considering the constraint conditions, with the method of finding the wheels; friction force solution space feasible region, obstacle-climbing capability of the mobile mechanism was analyzed. Given the same obstacle heights and contact angles of wheel-ground, the single side forward obstacle-climbing of the wheels was simulated respectively, and the results show that the rear wheel has the best obstacle-climbing capability, the middle wheel is the worst, and the front wheel is moderate. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | Proceedings - 2009 International Conference on Information Technology and Computer Science, ITCS 2009
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, USA |
| 语种 | 英语 |
| ISBN号 | 978-0-7695-3688-0 |
| WOS记录号 | WOS:000270803600078 |
| 源URL | [http://ir.sia.cn/handle/173321/10483]  |
| 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. Analysis of obstacle-climbing capability of planetary exploration rover with rocker-bogie structure[C]. 见:2009 International Conference on Information Technology and Computer Science, ITCS 2009. Kiev, Ukraine. July 25-26, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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