摘要
针对月球表面的崎岖地形环境,利用多体动力学的矢量分析法,建立臂式探测车在崎岖地形中行进过程的运动学模型。根据滑移损失产生原因,对驱动轮转速进行规划,推导出各轮协调运动的目标转速。利用仿真软件ADAMS及其运动函数对运动控制过程进行仿真,通过对比分析验证按照目标转速对驱动轮进行运动控制的有效性。
Kinematics modeling of a rocker-bogie rover traversing uneven terrain is presented for the rough surface on lunar, by means of vector method of multi-body system. For rover moving harmoniously, target rotate speeds for motion control of driving wheels are calculated based on the cause of slip lose. By using the software ADAMS and its motion function, simulations ave carried out and the effect of motion control following the target rotate speed is illustrated, compared with common cases.
出处
《机械设计与制造》
北大核心
2007年第12期59-61,共3页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(50375032)
