DocumentCode :
3401756
Title :
The Analyse of the Influence of External Disturbance on the Motion of a Six-Wheeled Lunar Rover
Author :
Gu, Kanfeng ; Wang, Hongguang ; Zhao, Mingyang
Author_Institution :
Chinese Acad. of Sci., Beijing
fYear :
2007
fDate :
5-8 Aug. 2007
Firstpage :
393
Lastpage :
398
Abstract :
Since lunar rover may run on the uneven surface of the moon, it is inevitable for external disturbances cause the lunar rover´s unexpected move. We investigate the effects of external disturbance. For the purpose of simplification, the six-wheeled-rocker-bogie lunar rover is considered as a six-wheeled vehicle with four steering wheels. Based on automotive theory, the steering dynamic equation is built. External disturbance is expressed as a force acted on the mass center of the rover. Laplace transform is introduced. Our research results show that the travel changes of the rovers will be different distinctly when the rovers with different steering characteristics are disturbed simultaneously. The US (under steering) lunar rover will restrain the motion caused by external disturbances, while the OS(over steering) lunar rover will further the motion caused by external disturbance. The conclusions we reached have important significance in guiding the design of lunar rover.
Keywords :
mobile robots; planetary rovers; robot dynamics; steering systems; Laplace transform; external disturbance; six-wheeled lunar rover; steering dynamic equation; steering wheels; Automotive engineering; Laboratories; Laplace equations; Mobile robots; Moon; Motion analysis; Robotics and automation; Vehicle dynamics; Vehicles; Wheels; External disturbance; Mobile robot; Motion characteristics; Six wheels lunar rover; Steering characteristics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
Type :
conf
DOI :
10.1109/ICMA.2007.4303575
Filename :
4303575
Link To Document :
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