摇臂式探测车在崎岖地形中行进的运动规划及仿真  

Motion planning and simulation of a rocker-bogie rover traversing uneven terrain

作　　者：侯绪研[1] 邓宗全[1] 高海波[1] 胡明[1] 

机构地区：[1]哈尔滨工业大学,哈尔滨150001

出　　处：《机械设计与制造》2007年第12期59-61,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(50375032)

摘　　要：针对月球表面的崎岖地形环境,利用多体动力学的矢量分析法,建立臂式探测车在崎岖地形中行进过程的运动学模型。根据滑移损失产生原因,对驱动轮转速进行规划,推导出各轮协调运动的目标转速。利用仿真软件ADAMS及其运动函数对运动控制过程进行仿真,通过对比分析验证按照目标转速对驱动轮进行运动控制的有效性。Kinematics modeling of a rocker-bogie rover traversing uneven terrain is presented for the rough surface on lunar, by means of vector method of multi-body system. For rover moving harmoniously, target rotate speeds for motion control of driving wheels are calculated based on the cause of slip lose. By using the software ADAMS and its motion function, simulations ave carried out and the effect of motion control following the target rotate speed is illustrated, compared with common cases.

关 键 词：摇臂式探测车 崎岖地形 运动规划 协调运动 

分 类 号：TH16[机械工程—机械制造及自动化]