Abstract:The mobility system of planetary rover is an important part of whole rover system. The rocker bogie mode mobility system is of a strong adaptive capability and flexibility system to the planetary terrain. On the basis of studying its mechanical configuration of rocker-bogie mode mobility system, its quasi-static analysis is carried out, whose frame parameter equations can be used as the main tool for analyzing and optimizing the mobile system of the planetary rover.
[1] 钱晋武,顾建峰,何永义,苏建良.火星漫游机器人研究和发展现状[J].机器人,1998,20(4):290-293. [2] Schilling K, Jungius C. Mobile robots for planetary exploration[J].Control Engineering Practice, 1996,4(4):513-524. [3] Volpe R, Balaram J, Ohm T, Ivlev R. Rocky 7:a next generation Mars rover prototype[J].Advanced Robotics, 1997,11(4):341-358. [4] Smith D B, Matijevic J R. System architecture for a planetary rover[J].Proceedings of the NASA Conference on Space. Telerobotics, 1989,1(1):163-184. [5] Pugh D, Ribble E, Vohnout V, Bihari T, Walliser T, Patterson M, Waldron K. Description of the adaptive suspension vehicle[J].Int J Robot. Res, 1990,9(2):24-42. [6] Wolfram S, Nehmzow U, Pecce M. Scientific methods in mobile robotics[J].Robotics and Autonomous Systems, 1998,2(4):1-3. [7] Jindra F. Obstacle performance of articulated wheeled vehicles[J].Journal of Terrain Mechanics, 1966,3(2):39-56. [8] Blanc M, Coutin-Faye S, Costard F, Achuche J. Auctomatic Plantary Vehicle for Exploring Mars. NTIS NO:N94~35336/4/HDM:52-54