BH-1型月球车的运动学和动力学研究  

Research on the Kinematics and Dynamics of Lunar Rover 'BH-1'

作　　者：雷振伍[1] 居鹤华[1] 崔平远[2] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124 [2]北京理工大学宇航学院,北京100081

出　　处：《北京工业大学学报》2011年第1期66-71,共6页Journal of Beijing University of Technology

基　　金：国家'八六三'计划资助项目(2006AA12Z307)

摘　　要：为研究松软土壤下BH-1型六轮月球探测车原理样机的运动性能和越障性能,对原理样机的运动学和动力学进行了理论分析.通过推导BH-1型原理样机车体和车轮的运动学约束关系,研究车轮的前向滑移、转向角滑移及侧向滑移对样机运动学的影响;鉴于月球表面松软的砂质土壤条件,对样机的车轮力学情况进行分析,进而建立基于凯恩方程的机器人动力学模型;利用ODE(open dynamics engine)三维动力学仿真软件对样机的越障过程进行仿真演示.仿真结果证明,BH-1具有优秀的运动性能和越障性能.In the paper, the mobility and obstacle-surmounting capability of six-wheels Lunar exploration prototype ＂BH-I＂ are analyzed. Then, the theoretical analysis of the kinematics and dynamics of the prototype is conducted. The kinematics constraint relations between the robot body and the robot wheels are derived, and the influences of the forward slip movement, the lateral slip movement and the steering slip angle on the kinematics of the prototype are analyzed. The mechanics of the wheel on the soft soil is studied. Furthermore, a dynamics model based on Kane＇ s dynamics equations is established. At last, ODE （Open Dynamics Engine） is utilized to simulate the obstacle-clearing process of the prototype. The simulation results show the excellent mobility and obstacle-clearing performance.

关 键 词：月球车 运动学 动力学 凯恩方程 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]