Attitude-adjusting dynamical behavior of cubic rover on low-gravity testbed  

作　　者：Bowen Jiang Muhammad Talha Hussain Xiangyuan Zeng 

机构地区：[1]School of Automation,Beijing Institute of Technology,Beijing,100081,China

出　　处：《Astrodynamics》2024年第1期149-159,共11页航天动力学（英文）

基　　金：the National Natural Science Foundation of China(Grant Nos.11972075 and 12222202);Beijing Institute of Technology(Grant No.2021CX01029).

摘　　要：Cubic rovers that traverse by hopping systems are promising in low-gravity environments.Although several analyses of the control methods and mobility of the cubic rover are available,investigations of its attitude-adjusting behavior are still limited.This study derives the dynamic equations of the two attitude-adjusting modes of the cubic rover,referred to as walking and twisting.The relationships between the speed threshold and rotation angle of the cubic rover were investigated in both rigid and regolith environments using a self-designed low-gravity testbed.Comparative studies were conducted by considering the experimental and simulated outputs.The results of this study can be interesting for roving mission planning when exploring planetary moons and small celestial bodies.

关 键 词：low-gravitytestbed attitude-adjusting motion cubic rover experimental study 

分 类 号：O313[理学—一般力学与力学基础]