Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode

Junqiang Zheng; Baofeng Yuan; Zhen Liu; Haibo Gao; Haitao Yu; Baichao Chen; Zongquan Deng

doi:10.1007/978-3-319-97589-4_20

Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode

Junqiang Zheng
, Baofeng Yuan
, Zhen Liu^*
, Haibo Gao
, Haitao Yu
, Baichao Chen
, Zongquan Deng

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
China Aerospace Science and Technology Corporation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

The gradeability of a rover is important for the detection in Mars exploration mission. The traditional rovers used in former American Mars projects and Chinese Chang’e project are all wheeled rover. The gradeability of this type rover is limited by the wheel-soil interaction. The wheel-legged rover has stronger gradeability than wheeled rover because it can use more soil strength. This paper proposes the structure of a wheel-legged rover utilizing the rocker-bogie suspension, the kinematics principle and terrametrics principle of the rover. In wheel-legged mode, the traction force provided by the brake wheel is more than 1.5 times of the drawbar pull of a same size driving wheel. This paper compares the gradeability of mobile system in the wheeled mode and the wheel-legged mode when the rover climbs 20° slope, compares the maximum power of mobile system when rover climbs 20° slope in different modes, and predicts the maximum power of rover in climbing 25° slope utilizing wheel-legged mode.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings
Editors	Zhiyong Chen, Alexandre Mendes, Yamin Yan, Shifeng Chen
Publisher	Springer Verlag
Pages	234-245
Number of pages	12
ISBN (Print)	9783319975887
DOIs	https://doi.org/10.1007/978-3-319-97589-4_20
State	Published - 2018
Event	11th International Conference on Intelligent Robotics and Applications, ICIRA 2018 - Newcastle, Australia Duration: 9 Aug 2018 → 11 Aug 2018

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10985 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	11th International Conference on Intelligent Robotics and Applications, ICIRA 2018
Country/Territory	Australia
City	Newcastle
Period	9/08/18 → 11/08/18

Keywords

Mars rover
Suspension
Terrametrics
Wheel-legged locomotion

Access to Document

10.1007/978-3-319-97589-4_20

Cite this

Zheng, J., Yuan, B., Liu, Z., Gao, H., Yu, H., Chen, B., & Deng, Z. (2018). Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode. In Z. Chen, A. Mendes, Y. Yan, & S. Chen (Eds.), Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings (pp. 234-245). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10985 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-97589-4_20

Zheng, Junqiang ; Yuan, Baofeng ; Liu, Zhen et al. / Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode. Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings. editor / Zhiyong Chen ; Alexandre Mendes ; Yamin Yan ; Shifeng Chen. Springer Verlag, 2018. pp. 234-245 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{08921018e1974343a07156efa38e2643,

title = "Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode",

abstract = "The gradeability of a rover is important for the detection in Mars exploration mission. The traditional rovers used in former American Mars projects and Chinese Chang{\textquoteright}e project are all wheeled rover. The gradeability of this type rover is limited by the wheel-soil interaction. The wheel-legged rover has stronger gradeability than wheeled rover because it can use more soil strength. This paper proposes the structure of a wheel-legged rover utilizing the rocker-bogie suspension, the kinematics principle and terrametrics principle of the rover. In wheel-legged mode, the traction force provided by the brake wheel is more than 1.5 times of the drawbar pull of a same size driving wheel. This paper compares the gradeability of mobile system in the wheeled mode and the wheel-legged mode when the rover climbs 20° slope, compares the maximum power of mobile system when rover climbs 20° slope in different modes, and predicts the maximum power of rover in climbing 25° slope utilizing wheel-legged mode.",

keywords = "Mars rover, Suspension, Terrametrics, Wheel-legged locomotion",

author = "Junqiang Zheng and Baofeng Yuan and Zhen Liu and Haibo Gao and Haitao Yu and Baichao Chen and Zongquan Deng",

note = "Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2018.; 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018 ; Conference date: 09-08-2018 Through 11-08-2018",

year = "2018",

doi = "10.1007/978-3-319-97589-4\_20",

language = "英语",

isbn = "9783319975887",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "234--245",

editor = "Zhiyong Chen and Alexandre Mendes and Yamin Yan and Shifeng Chen",

booktitle = "Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings",

address = "德国",

}

Zheng, J, Yuan, B, Liu, Z, Gao, H, Yu, H, Chen, B & Deng, Z 2018, Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode. in Z Chen, A Mendes, Y Yan & S Chen (eds), Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10985 LNAI, Springer Verlag, pp. 234-245, 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018, Newcastle, Australia, 9/08/18. https://doi.org/10.1007/978-3-319-97589-4_20

Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode. / Zheng, Junqiang; Yuan, Baofeng; Liu, Zhen et al.
Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings. ed. / Zhiyong Chen; Alexandre Mendes; Yamin Yan; Shifeng Chen. Springer Verlag, 2018. p. 234-245 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10985 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode

AU - Zheng, Junqiang

AU - Yuan, Baofeng

AU - Liu, Zhen

AU - Gao, Haibo

AU - Yu, Haitao

AU - Chen, Baichao

AU - Deng, Zongquan

N1 - Publisher Copyright: © Springer Nature Switzerland AG 2018.

PY - 2018

Y1 - 2018

N2 - The gradeability of a rover is important for the detection in Mars exploration mission. The traditional rovers used in former American Mars projects and Chinese Chang’e project are all wheeled rover. The gradeability of this type rover is limited by the wheel-soil interaction. The wheel-legged rover has stronger gradeability than wheeled rover because it can use more soil strength. This paper proposes the structure of a wheel-legged rover utilizing the rocker-bogie suspension, the kinematics principle and terrametrics principle of the rover. In wheel-legged mode, the traction force provided by the brake wheel is more than 1.5 times of the drawbar pull of a same size driving wheel. This paper compares the gradeability of mobile system in the wheeled mode and the wheel-legged mode when the rover climbs 20° slope, compares the maximum power of mobile system when rover climbs 20° slope in different modes, and predicts the maximum power of rover in climbing 25° slope utilizing wheel-legged mode.

AB - The gradeability of a rover is important for the detection in Mars exploration mission. The traditional rovers used in former American Mars projects and Chinese Chang’e project are all wheeled rover. The gradeability of this type rover is limited by the wheel-soil interaction. The wheel-legged rover has stronger gradeability than wheeled rover because it can use more soil strength. This paper proposes the structure of a wheel-legged rover utilizing the rocker-bogie suspension, the kinematics principle and terrametrics principle of the rover. In wheel-legged mode, the traction force provided by the brake wheel is more than 1.5 times of the drawbar pull of a same size driving wheel. This paper compares the gradeability of mobile system in the wheeled mode and the wheel-legged mode when the rover climbs 20° slope, compares the maximum power of mobile system when rover climbs 20° slope in different modes, and predicts the maximum power of rover in climbing 25° slope utilizing wheel-legged mode.

KW - Mars rover

KW - Suspension

KW - Terrametrics

KW - Wheel-legged locomotion

UR - https://www.scopus.com/pages/publications/85051976152

U2 - 10.1007/978-3-319-97589-4_20

DO - 10.1007/978-3-319-97589-4_20

M3 - 会议稿件

AN - SCOPUS:85051976152

SN - 9783319975887

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 234

EP - 245

BT - Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings

A2 - Chen, Zhiyong

A2 - Mendes, Alexandre

A2 - Yan, Yamin

A2 - Chen, Shifeng

PB - Springer Verlag

T2 - 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018

Y2 - 9 August 2018 through 11 August 2018

ER -

Zheng J, Yuan B, Liu Z, Gao H, Yu H, Chen B et al. Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode. In Chen Z, Mendes A, Yan Y, Chen S, editors, Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings. Springer Verlag. 2018. p. 234-245. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-97589-4_20

Comparison of gradeability of a wheel-legged rover in wheeled mode and wheel-legged mode

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this