摘要
在分析国外月球车桅杆机构的基础上,研制出三自由度桅杆机构.建立了桅杆机构的动力学模型.对桅杆机构运动学和动力学进行了分析,给出了桅杆机构的运动学和动力学方程.对动力学方程进行求解,得到了关节力矩曲线.
Based on the analysis of the mast mechanism of lunar rovers developed in other countries, a 3-DOF mast mechanism is designed. A dynamical model for the mast mechanism is built. Kinematics and dynamics of the mast mechanism are analyzed, and their equations are built. The joint torque curves are obtained by solving those equations.
出处
《机器人》
EI
CSCD
北大核心
2008年第1期13-16,共4页
Robot
基金
国家863计划资助项目(2006AA04Z231)
高等学校学科创新引智计划资助项目(B07018)
长江学者和创新团队发展计划资助项目
关键词
月球车
桅杆机构
运动学
动力学
lunar rover
mast mechanism
kinematics
dynamics
