月球车运动学建模及仿真  

The Kinematics Model and Simulation of Lunar Rover

作　　者：李晖[1] 林梦圆[1] 邱钊鹏[1] 张莉莉[1] 

机构地区：[1]北京电子科技职业学院,北京100176

出　　处：《机电产品开发与创新》2017年第1期59-61,69,共4页Development & Innovation of Machinery & Electrical Products

基　　金：促进高校内涵建设-师资队伍建设-校内专业教学团队和优秀人才培养计划-校级骨干教师培育项目(CJGX2016-JX-26/002;CJGX2016-JX-26/032);科技类博士资助课题(YZKB2015009)

摘　　要：月球车行驶的环境是未知、凹凸不平、松软的月面,很容易发生陷死失效状况,其软、硬件的设计和优化都需要在试验场地做大量试验,仿真无疑是提高月球车设计效率降低设计成本的有效手段,因此一种基于虚拟现实环境的月球车仿真实验环境是非常有必要的。论文针对月球车建立运动学模型及仿真环境。采用变换矩阵法,在月球车各运动构建上建立局部坐标系,得出了具有摇臂悬架结构月球车的通用运动学模型。The lunar rover driving environment is unknown,rugged,soft surface of lunar terrain,it is prone to failure in death status. Its de-sign and optimization of software and hardware need to be done a lot of testing in the laboratory. The simulation is undoubtedly an effective means to improve the design efficiency of the lunar rover. So a lunar rover simulation environment based on virtual reality environment is very necessary. In this paper,the kinematics model and simulation environment for Lunar Rover are established. By using the transformation matrix method,the local coordinate system is established on the motion of the lunar rover,and the general kinematics model of the lunar rover with rocker arm suspension is obtained.

关 键 词：月球车 运动学建模 运动学仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]