摘要
为了提高探测车在崎岖路面中的运动性能,提出了一种非对称轮式探测车行走系统.该车具有整体式超静定结构,6个车轮通过悬挂装置与车身相连,非对称分布于车体两侧,悬架结构可以主动控制来提高探测车在崎岖路面中的运动性能.采用牛顿—欧拉法建立了行走系统的动力学模型,给出了几何和速度约束方程,采用有限差分法求解由微分方程和代数方程构成的联合方程组.对非对称构型探测车的运动性能进行了计算机仿真,得出了一些运动规律.原理样机试验表明,该车具有较强的越障和过沟能力.
A kind of asymmetric mobile system for wheeled rovers is proposed for enhancing motion performance in rough terrain.The rover has an integral and statically indeterminate structure with six wheels asymmetrically joined at the two sides by suspension mechanism.The suspension configuration can be actively controlled to improve the rover mobility in high challenging terrains.Newton-Euler method is adopted to establish dynamic model for the mobile system,and the geometry and velocity constraint equations are given.The equation system consisting of differential and algebraic equations is solved by finite difference method.Simulations are performed to study the dynamic performance of the asymmetric rover, and some motion laws are obtained.The strong obstacle-overcoming and ditch-passing capabilities of the rover are testified by experiments on the principle prototype.
出处
《机器人》
EI
CSCD
北大核心
2011年第1期1-8,共8页
Robot
基金
国家自然科学基金资助项目(50805030)
