| Author Name | Affiliation | | GAO Hai-bo | State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China | | Zhang Peng | State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China | | DenZhongQuan | State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China | | HuMing | State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: |
| A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover. |
| Key words: kinematic modeling locomotion system eight-wheel lunar rover lunar rover |
| DOI：10.11916/j.issn.1005-9113.2009.06.003 |
| Clc Number:TP242 |
| Fund: |
