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基于矢量法的月球车运动学分析 被引量：2

The Kinematics Analysis of Lunar Rovers Based on Vector Method
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摘要 为解决月球车在月球表面上的运动学问题,对月球车在非结构化环境下并且轮地之间存在滑移的情况下的运动学进行建模与分析。在分析多刚体链式机构运动的速度特性的基础上,建立整车速度的矢量表达式,利用矢量分析方法,建立摇臂悬架式月球车在崎岖地形中行进并且轮地之间存在滑转情况的运动学模型。利用ADAMS和MATLAB对运动控制过程进行仿真,验证该建模方法的正确性。 In order to solve the kinematics problem of lunar rover traversing over rough terrain, the kine- matics modeling and analysis of a rocker-bogie-mode lunar rover traversing uneven and soft terrain with slip are proposed. The vector expression of the lunar rover velocity is derived on the basis of the analysis of the ve- locity characteristics of a multi-rigid-body chain structure movement, and the kinematics modeling of a rocker-bogie lunar rover traversing over uneven terrain with slip is presented by means of the vector method of multi-body system. By using the software ADAMS and MATLAB,the simulations are implemeated and the validity of the modeling method is verified.
作者 刘建军 陈建新
机构地区 北京控制工程研究所 空间智能控制技术重点实验室
出处 《航天控制》 CSCD 北大核心 2011年第6期8-13,共6页 Aerospace Control
关键词 月球车 运动学 滑转 矢量方法 Lunar rover Kinematics Slip Vector method
分类号 O311 [理学—一般力学与力学基础] TH113.2 [机械工程—机械设计及理论]
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参考文献9

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二级参考文献13

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航天控制
2011年 第6期

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