Structure Designing and Dynamic Model Establishing for Travel Mechanism of a Six Leg-wheels Lunar Rover 2007-01-3714
In future lunar exploration missions, rovers are required to traverse over rough terrain. In order to improve the ability of obstacle surmounting on lunar surface, this paper proposes a new-style travel mechanism for lunar rovers. This mechanism mainly consists of four main legs and two assistant legs. By establishing its dynamic model using the Lagrange's equations and making dynamic simulation, many references have been provided to the control system. Through analysis we found that the ability of obstacle surmounting and the stability of this new-style six leg-wheeled lunar rover have been improved.
Citation: Weiyan, S. and Shunming, L., "Structure Designing and Dynamic Model Establishing for Travel Mechanism of a Six Leg-wheels Lunar Rover," SAE Technical Paper 2007-01-3714, 2007, https://doi.org/10.4271/2007-01-3714. Download Citation
Author(s):
Shang Weiyan, Li Shunming
Affiliated:
Nanjing University of Aeronautics and Astronautics
Pages: 8
Event:
Asia Pacific Automotive Engineering Conference
ISSN:
0148-7191
e-ISSN:
2688-3627
Related Topics:
Control systems
Simulation and modeling
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