摘要
为解决轮式移动机器人在崎岖地形中的运动问题,提出了基于摇杆-转向架的带有弹簧和移动滑块的月球车运动学分析方法,在此基础上详细分析了HIT-1型月球车的3D运动机制,推导了月球车的正向运动和反向运动求解.通过使用弹簧和关节滑块改变车体的质心分布,可加强车体运动重构性,提高车体的牵引力,有效地规划和控制月球车的动作.
In order to solve the kinematic problem of lunar rover over traverse rough terrain, a kinematic analysis of rocker-bogie was introduced for lunar rover with springs and dumpers. The full 3-D mechanics of HIT-1 lunar rover was studied, and the solution of forward and inverse kinematic equation of lunar rover was derived. An analytical method was proposed to improve rough-terrain mobility and increase traction by flexible controlling the springs and dumpers and thus repositioning the center of mass, then the actions of lunar rover can be planned and controlled.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2003年第9期1098-1101,共4页
Journal of Harbin Institute of Technology
基金
国家高技术研究发展计划资助项目(863-2002AA735041).
