Paper Title:
Wheel Velocity Analysis of a Rover with Six Wheels Independently Driven on Uneven Terrain
  Abstract

In order to implement basic motion functions of lunar rover over uneven terrain, wheel kinematics of a novel lunar rover with each wheel independently driven was studied. In terms of mechanism principle and configuration features of the rover the kinematics model of wheels was set up by utilizing modified D-H method. The simulation analyses of wheels traversing over uneven terrain were carried out by using MATLAB software. The velocity simulation curves of wheels’ centers relative to rover body were acquired. The research results give motion parameters of wheels varying with rough terrain, and from the velocity simulation curves we can gain velocity control instructions of rover wheels over uneven terrain. It illustrates varying of lunar rover wheels’ velocity with uneven terrain. The paper provides a theoretical basis for accomplishing motion control and autonomously avoiding obstacles of lunar rover and so on.

  Info
Periodical
Key Engineering Materials (Volumes 392-394)
Edited by
Guanglin Wang, Huifeng Wang and Jun Liu
Pages
335-640
DOI
10.4028/www.scientific.net/KEM.392-394.335
Citation
Y. H. Dong, Z. Q. Deng, H. B. Gao, "Wheel Velocity Analysis of a Rover with Six Wheels Independently Driven on Uneven Terrain", Key Engineering Materials, Vols. 392-394, pp. 335-640, 2009
Online since
October 2008
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Yan Wen Huang, Qi Xin Cao, Chun Tao Leng
Chapter 2: Industrial Robotics and Automation
Abstract:Mars Rover works in a complicated environment with uneven terrain. In order to improve the robot’s dynamic motion ability, traversability and...
111
Authors: Ping Shu Ge, Rong Hui Zhang, Tao Zhang, Xiu Chun Zhao, Liu Tao
Chapter III: Industrial Robot Technology
Abstract:Lunar rover is a special kind of wheeled mobile robot for deep space exploration mission. On the moon, the soft weathered layers, as well as...
505