【摘 要】
：
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 an
【机 构】
：
State Key Laboratory of Robotics and Systems, School of Mechatronic Engineering, Harbin Institute of
【基金项目】
：
Development Program of the Excellent Youth Scholars of Harbin Institute of Technology;the College Discipline Innovation Wisdom Plan;国家高技术研究发展计划(863计划);国家自然科学基金
论文部分内容阅读
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.
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