• 自动化技术、计算机技术 •

### 摇臂式六轮探测车空间姿态建模与求解

1. （1.上海交通大学 机械与动力工程学院，上海 00240；2.上海宇航系统工程研究所，上海 201109）

• 收稿日期:2012-09-19 出版日期:2013-07-30 发布日期:2013-07-30

### Spatial Attitude Model of Six-Wheeled Rocker Rover and Its Mathematical Solution

ZHOU Kaibo1,WANG Xuyong1,LUO Xiaotao2,JI Ming2,GUO Xiaofeng1,CHENG Zhi1

1. (1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China;2. Shanghai Aerospace Institute of System Engineering, Shanghai 201109, China)
• Received:2012-09-19 Online:2013-07-30 Published:2013-07-30

Abstract:

The spatial attitude of six-wheeled rocker rover constantly changes when it crosses complex terrains or obstacles. In order to model the spatial attitude of the rover, the structure of the rover was simplified and summarized. Five spatial parameters of the rover were defined (the parameters include the inclination angles between differential shaft and level ground, rotation angles of main and sub rockers) and the center height of six wheels was involved in the model as terrain parameters. Finally, the mathematical model of the spatial attitude of the rover was established, based on which the forward solution and inverse solution were defined and corresponding solutions were proposed. This research provides the basis for the performance analysis of the six-wheeled rocker rover in different aspects.