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Obstacle-Climbing Capability Analysis of Six-Wheeled Rocker-Bogie Lunar Rover on Loose Soil

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Intelligent Robotics and Applications (ICIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

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Abstract

Taking six-wheeled rocker-bogie lunar rover as an object, on the basis of force analysis between the wheels and lunar soil, its obstacle-climbing force model on loose soil was established in this paper, and the wheel sinkages were obtained. Based on the method of solving the wheel’s driving torque solution space feasible regions, this paper analyzed the forward obstacle-climbing capability of six-wheeled rocker-bogie lunar rover on loose soil, including single-wheel obstacle-climbing and two wheels obstacle-climbing simultaneously. Simulations show that under the loose soil environment, the wheels have different obstacle-climbing capability, i.e. the rear wheel is the best, the middle one is the worst and the front one is moderate.

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Author information

Authors and Affiliations

  1. Anhui University of Technology, Ma’anshan, Anhui Province, China

    Xiaoliu Yu, Yongming Wang, Meiling Wang & Lifang Wang

  2. Southeast University, Nanjing, Jiangsu Province, China

    Yongming Wang

  3. State Key Laboratory of Robotics, Shenyang, Liaoning Province, China

    Xiaoliu Yu

Authors
  1. Xiaoliu Yu
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  2. Yongming Wang
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  3. Meiling Wang
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  4. Lifang Wang
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Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

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© 2009 Springer-Verlag Berlin Heidelberg

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Yu, X., Wang, Y., Wang, M., Wang, L. (2009). Obstacle-Climbing Capability Analysis of Six-Wheeled Rocker-Bogie Lunar Rover on Loose Soil. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_116

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_116

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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