Title :
Dynamic modelling of wheeled planetary rovers
Author :
Feng Chen ; Genta, G. ; Guang Zhao
Author_Institution :
Mech. Dept., Politec. di Torino, Turin, Italy
Abstract :
A dynamic model for wheeled planetary rovers based on the pseudo-coordinates approach is presented. The model allows any number of wheels and different types of suspensions to be considered and can used for rovers steered by steering wheels or by slip steering. As an example, the dynamics of a large 8-wheels pressurized rover for lunar exploration is studied.
Keywords :
planetary rovers; slip; steering systems; suspensions (mechanical components); wheels; dynamic model; lunar exploration; pressurized rover; pseudocoordinate approach; slip steering; steering wheels; suspensions; wheeled planetary rovers; Equations; Force; Mathematical model; Springs; Suspensions; Vehicle dynamics; Wheels; dynamic modelling; planetary rovers; slip steering; vehicle dynamics;
Conference_Titel :
Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on
Conference_Location :
Harbin, Heilongjiang, China
Print_ISBN :
978-1-61284-087-1
DOI :
10.1109/EMEIT.2011.6023421
