BH-1型月球车的运动学和动力学研究

雷振伍; 居鹤华; 崔平远

doi:10.3969/j.issn.0254-0037.2011.01.011

BH-1型月球车的运动学和动力学研究

1. 北京工业大学电子信息与控制工程学院, 北京 100124;
2. 北京理工大学宇航学院, 北京 100081

基金项目:

国家“八六三”计划资助项目(2006AA12Z307).

详细信息

作者简介:
雷振伍(1977—),男,吉林桦甸人,博士研究生;居鹤华(1969—),男,江苏高邮人,教授.

中图分类号: TP242.3
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出版历程
- 收稿日期: 2008-11-02
- 网络出版日期: 2022-11-18

Research on the Kinematics and Dynamics of Lunar Rover 'BH-1'

1. College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China;
2. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

摘要

摘要: 为研究松软土壤下BH-1型六轮月球探测车原理样机的运动性能和越障性能,对原理样机的运动学和动力学进行了理论分析.通过推导BH-1型原理样机车体和车轮的运动学约束关系,研究车轮的前向滑移、转向角滑移及侧向滑移对样机运动学的影响;鉴于月球表面松软的砂质土壤条件,对样机的车轮力学情况进行分析,进而建立基于凯恩方程的机器人动力学模型;利用ODE (open dynamics engine)三维动力学仿真软件对样机的越障过程进行仿真演示.仿真结果证明,BH-1具有优秀的运动性能和越障性能.
- 月球车 /
- 运动学 /
- 动力学 /
- 凯恩方程
Abstract: In the paper,the mobility and obstacle-surmounting capability of six-wheels Lunar exploration prototype "BH-1" are analyzed.Then,the theoretical analysis of the kinematics and dynamics of the prototype is conducted.The kinematics constraint relations between the robot body and the robot wheels are derived,and the influences of the forward slip movement,the lateral slip movement and the steering slip angle on the kinematics of the prototype are analyzed.The mechanics of the wheel on the soft soil is studied.Furthermore,a dynamics model based on Kane's dynamics equations is established.At last,ODE (Open Dynamics Engine) is utilized to simulate the obstacle-clearing process of the prototype.The simulation results show the excellent mobility and obstacle-clearing performance.
- lunar rover /
- kinematics /
- dynamics /
- Kane equation

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参考文献(8)

[1]	TAROKH M,MCDERMOTT G J.Kinematics modeling and analyses of articulated rovers[J].IEEE Transactions on Roboticsand Automation,2005,21(4):539-553.
[2]	YI B J,KIM W K.The kinematics for redundantly actuated omnidirectional mobile robots[J].Journal of Robotic Systems,2002,19(6):255-267.
[3]	IAGNEMMA K,DUBOWSKY S.Traction control of wheeled robotic vehicles in rough terrain with application to planetaryrovers[J].International Journal of Robotics Research,2004,23(10-11):1029-1040.
[4]	LAMON P,SIEGWART R.Wheel torque control in rough terrain-modeling and simulation[C]∥2005 IEEE InternationalConference on Robotics and Automation.Barcelona,Spanish:IEEE,2005:867-872.
[5]	NUKULWUTHIOPAS W,LAOWATTANA S,MANEEWARN T.Dynamic modeling of a one-wheel robot by using Kane'smethod[C]∥2002 IEEE International Conference on Industrial Technology.Bankok,Thai:IEEE,2002:524-529.
[6]	ISHIGAMI G,MIWA A,NAGATANI K.Terramechanics-based model for steering maneuver of planetary exploration rovers onloose soil[J].Journal of Field Robotics,2007,24(3):233-250.
[7]	张克健.车辆地面力学[M].北京:国防工业出版社,2002:204-207.
[8]	叶敏,肖龙翔.分析力学[M].天津:天津大学出版社,2001:154-158.

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BH-1型月球车的运动学和动力学研究

作者简介: 雷振伍(1977—),男,吉林桦甸人,博士研究生;居鹤华(1969—),男,江苏高邮人,教授.

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出版历程

Research on the Kinematics and Dynamics of Lunar Rover 'BH-1'

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出版历程

目录

作者简介:
雷振伍(1977—),男,吉林桦甸人,博士研究生;居鹤华(1969—),男,江苏高邮人,教授.