TY - GEN
T1 - A novel active deform and wheel-legged suspension of Mars rover
AU - Zheng, Junqiang
AU - Liu, Zhen
AU - Gao, Haibo
AU - Yu, Haitao
AU - Deng, Zongquan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - A novel active suspension of Mars rover based on six-wheeled rocker-bogie suspension is proposed and the design is given from the 2D modularization concept. The proposed suspension not only can operate as same as normal six-wheeled rocker-bogie suspension, but also provides active fold-unfold ability on the platform, great wheel-legged passing ability in soft terrain and steep slopes. The most important component of this suspension is a main rocker angle adjuster with a planetary gear train, which makes angle between the front and rear part of main rocker change coherently with angle between the rear part of main rocker and the carriage. The mathematical model of one side suspension is established and the ratio of planet gear train is solved. A prototype is manufactured and the performance of it is validated by the experiment in indoor proving ground. The study of this active suspension lays a theoretical foundation for future development of the kinematics and dynamics, control system design, and the development of the next prototype.
AB - A novel active suspension of Mars rover based on six-wheeled rocker-bogie suspension is proposed and the design is given from the 2D modularization concept. The proposed suspension not only can operate as same as normal six-wheeled rocker-bogie suspension, but also provides active fold-unfold ability on the platform, great wheel-legged passing ability in soft terrain and steep slopes. The most important component of this suspension is a main rocker angle adjuster with a planetary gear train, which makes angle between the front and rear part of main rocker change coherently with angle between the rear part of main rocker and the carriage. The mathematical model of one side suspension is established and the ratio of planet gear train is solved. A prototype is manufactured and the performance of it is validated by the experiment in indoor proving ground. The study of this active suspension lays a theoretical foundation for future development of the kinematics and dynamics, control system design, and the development of the next prototype.
UR - https://www.scopus.com/pages/publications/85016729416
U2 - 10.1109/ROBIO.2016.7866267
DO - 10.1109/ROBIO.2016.7866267
M3 - 会议稿件
AN - SCOPUS:85016729416
T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
SP - 7
EP - 12
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Y2 - 3 December 2016 through 7 December 2016
ER -