Kinematic modeling and analysis of novel eight-wheel lunar rover  

作　　者：高海波 张朋 邓宗全 胡明 

机构地区：[1]State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2009年第6期751-755,共5页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National Natural Science Foundation of China(Grant No.50975059);the National High-Tech Research and Development Program of China(863 Program)(Grant No.2006AA04Z231);the College Discipline Innovation Wisdom Plan(Grant No.B07018);Development Program of the Excellent Youth Scholars of Harbin Institute of Technology(Grant No.CACZ98504837)

摘　　要：A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.

关 键 词：kinematic modeling locomotion system eight-wheel lunar rover lunar rover 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] V476.3[自动化与计算机技术—控制科学与工程]