非对称行星探测车行走系统的动力学仿真及运动性能分析

杜建军; 任明俊; 刘暾; 朱建军

非对称行星探测车行走系统的动力学仿真及运动性能分析

哈尔滨工业大学深圳研究生院,广东,深圳,518055

详细信息

作者简介:
杜建军（1974- ），男，博士，副教授．研究领域：机构动力学，移动机器人，气体润滑．
任明俊（1981- ），男，博士生．研究领域：移动机器人．
刘暾（1932- ），男，教授．研究领域：空间飞行器动力学，气体润滑，精密机械设计．

通信作者:
杜建军, jjdu@hit.edu.cn

中图分类号: TP24
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- 文章访问数: 32
- HTML全文浏览量: 1425
- PDF下载量: 405
出版历程
- 收稿日期: 2010-02-03
- 修回日期: 2010-07-27
- 发布日期: 2011-01-14

Dynamics Simulation and Motion Capability Analysis on the Mobile System for Asymmetric Planetary Rover

Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China

摘要

摘要: 为了提高探测车在崎岖路面中的运动性能，提出了一种非对称轮式探测车行走系统．该车具有整体式超静定结构，6个车轮通过悬挂装置与车身相连，非对称分布于车体两侧，悬架结构可以主动控制来提高探测车在崎岖路面中的运动性能．采用牛顿—欧拉法建立了行走系统的动力学模型，给出了几何和速度约束方程，采用有限差分法求解由微分方程和代数方程构成的联合方程组．对非对称构型探测车的运动性能进行了计算机仿真，得出了一些运动规律．原理样机试验表明，该车具有较强的越障和过沟能力．
- 探测车 /
- 非对称行走系统 /
- 牛顿—欧拉法 /
- 动力学模型 /
- 运动性能
Abstract: A kind of asymmetric mobile system for wheeled rovers is proposed for enhancing motion performance in rough terrain.The rover has an integral and statically indeterminate structure with six wheels asymmetrically joined at the two sides by suspension mechanism.The suspension configuration can be actively controlled to improve the rover mobility in high challenging terrains.Newton-Euler method is adopted to establish dynamic model for the mobile system,and the geometry and velocity constraint equations are given.The equation system consisting of differential and algebraic equations is solved by finite difference method.Simulations are performed to study the dynamic performance of the asymmetric rover, and some motion laws are obtained.The strong obstacle-overcoming and ditch-passing capabilities of the rover are testified by experiments on the principle prototype.
- robotic rover /
- asymmetric mobile system /
- Newton-Euler method /
- dynamic model /
- motion capability

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参考文献(13)

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文章访问数: 32
HTML全文浏览量: 1425
PDF下载量: 405
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非对称行星探测车行走系统的动力学仿真及运动性能分析

通信作者: 杜建军, jjdu@hit.edu.cn

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出版历程

Dynamics Simulation and Motion Capability Analysis on the Mobile System for Asymmetric Planetary Rover

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通信作者:
杜建军, jjdu@hit.edu.cn