Kinematic analysis of HIT-1 lunar rover

Ze Su Cai; Bing Rong Hong; De Sheng Lu

Kinematic analysis of HIT-1 lunar rover

Ze Su Cai^*
, Bing Rong Hong
, De Sheng Lu

^*Corresponding author for this work

School of Computer Science and Technology, Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

In order to solve the kinematic problem of lunar rover over traverse rough terrain, a kinematic analysis of rocker-bogie was introduced for lunar rover with springs and dumpers. The full 3-D mechanics of HIT-1 lunar rover was studied, and the solution of forward and inverse kinematic equation of lunar rover was derived. An analytical method was proposed to improve rough-terrain mobility and increase traction by flexible controlling the springs and dumpers and thus repositioning the center of mass, then the actions of lunar rover can be planned and controlled.

Original language	English
Pages (from-to)	1098-1101
Number of pages	4
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	35
Issue number	9
State	Published - Sep 2003
Externally published	Yes

Keywords

Kinematic reconfigurability
Lunar Rover
Rocker-bogie

Cite this

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title = "Kinematic analysis of HIT-1 lunar rover",

abstract = "In order to solve the kinematic problem of lunar rover over traverse rough terrain, a kinematic analysis of rocker-bogie was introduced for lunar rover with springs and dumpers. The full 3-D mechanics of HIT-1 lunar rover was studied, and the solution of forward and inverse kinematic equation of lunar rover was derived. An analytical method was proposed to improve rough-terrain mobility and increase traction by flexible controlling the springs and dumpers and thus repositioning the center of mass, then the actions of lunar rover can be planned and controlled.",

keywords = "Kinematic reconfigurability, Lunar Rover, Rocker-bogie",

author = "Cai, \{Ze Su\} and Hong, \{Bing Rong\} and Lu, \{De Sheng\}",

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language = "英语",

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pages = "1098--1101",

journal = "Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology",

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T1 - Kinematic analysis of HIT-1 lunar rover

AU - Cai, Ze Su

AU - Hong, Bing Rong

AU - Lu, De Sheng

PY - 2003/9

Y1 - 2003/9

N2 - In order to solve the kinematic problem of lunar rover over traverse rough terrain, a kinematic analysis of rocker-bogie was introduced for lunar rover with springs and dumpers. The full 3-D mechanics of HIT-1 lunar rover was studied, and the solution of forward and inverse kinematic equation of lunar rover was derived. An analytical method was proposed to improve rough-terrain mobility and increase traction by flexible controlling the springs and dumpers and thus repositioning the center of mass, then the actions of lunar rover can be planned and controlled.

AB - In order to solve the kinematic problem of lunar rover over traverse rough terrain, a kinematic analysis of rocker-bogie was introduced for lunar rover with springs and dumpers. The full 3-D mechanics of HIT-1 lunar rover was studied, and the solution of forward and inverse kinematic equation of lunar rover was derived. An analytical method was proposed to improve rough-terrain mobility and increase traction by flexible controlling the springs and dumpers and thus repositioning the center of mass, then the actions of lunar rover can be planned and controlled.

KW - Kinematic reconfigurability

KW - Lunar Rover

KW - Rocker-bogie

UR - https://www.scopus.com/pages/publications/1642453926

M3 - 文章

AN - SCOPUS:1642453926

SN - 0367-6234

VL - 35

SP - 1098

EP - 1101

JO - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

IS - 9

ER -

Kinematic analysis of HIT-1 lunar rover

Abstract

Keywords

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