新型八轮月球车不同运动学建模方法及分析  

Different kinematics modeling method and analyzing of new lunar rover with eight wheels

作　　者：禹鑫燚[1] 高海波[1] 邓宗全[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《北京航空航天大学学报》2009年第4期457-463,共7页Journal of Beijing University of Aeronautics and Astronautics

基　　金：高等学校学科创新引智计划资助项目(B07018);国家863计划资助项目(2006AA04Z231);黑龙江省自然科学基金重点资助项目(ZJG0709)

摘　　要：为使月球车具有更好的自主导航能力,完成崎岖地形路径规划和崎岖地形可通过性仿真测试,必须建立相应的运动学模型.针对提出的新型八轮移动子系统构型月球车和地形特征,利用不同的坐标系定义和建模方法建立了八轮月球车的3种不同运动学模型:关节机器人D-H坐标建模方法运动模型、平面几何运动学关系和三维几何运动学关系运动学模型.在此基础上对建立的3种运动学模型进行分析对比,提出了3种运动学模型的适用条件和范围.最后指出构建的运动学方程可以作为月球车多轮协调运动控制模型和月球车仿真环境中运动关系的求解器模型.In order to improve lunar rover＇s autonomous navigation, path planning and simulation of trafficability in rough terrain, different kinematics models should be made. A new type of lunar rover was presented and three different kinematics models were made based on rover＇s mechanical characterization and contact situation between terrain and rover. Using D-H transform modeling method of joint robot, plane geometry kinematics relation and 3D geometry kinematics relation, three types of kinematics models of eight-wheel torsion bar rocker-bogie lunar rover were deduced. Then the comparative analysis on three different kinematics models was produced with their respective application conditions and scope. The new lunar rover＇s kinematics model can be as model of multi-wheels coordinated motion control and kinematics solver of rover in simulation environment.

关 键 词：运动学模型 月球车 Denavit-Hartenberg变换 

分 类 号：V41[航空宇航科学与技术—航空宇航推进理论与工程]