Kinematics Modeling of Rocker-Bogie Lunar Rover and Suspension Parameter Optimization

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Kinematics Modeling of Rocker-Bogie Lunar Rover and Suspension Parameter Optimization

更新时间：2025-07-09

- Kinematics Modeling of Rocker-Bogie Lunar Rover and Suspension Parameter Optimization
- Vol. 43, Issue 9, Pages: 62-66(2009)
- 作者机构：
  
  1. 哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001
  2. 哈尔滨工业大学机电工程学院,哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242.3
- Online First：10 September 2009，
  
  Published：2009
- 稿件说明：
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Kinematics Modeling of Rocker-Bogie Lunar Rover and Suspension Parameter Optimization[J]. 2009, 43(9): 62-66.
DOI：

Kinematics Modeling of Rocker-Bogie Lunar Rover and Suspension Parameter Optimization[J]. 2009, 43(9): 62-66. DOI：

摘要

为了减小摇臂式月球车在崎岖不平的月球表面上行进时车体位姿的变化

给车载科学仪器提供稳定的移动工作平台

对悬架结构参数进行了优化.在对摇臂悬架简化的基础上

定义了悬架的运动学参数

用坐标变换法建立了摇臂月球车的运动学模型

得到了以悬架运动学参数表示的车体位姿方程.以车体位姿中的垂直位移和俯仰角的变化为多目标函数

悬架结构参数为设计变量

建立了多目标优化数学模型

并利用MATLAB优化工具箱进行了优化求解.采用ADAMS软件进行了仿真分析

结果表明

优化后摇臂式月球车车体位姿的变化明显减小.

Abstract

To reduce the change of position and orientation of rocker-bogie lunar rover

which serves as the platform for the on-board science instruments on the uneven terrain

the structure parameters of rocker-bogie suspension are optimized. The kinematics parameters are defined based on the simplified rocker-bogie suspension structure

the kinematics model of rocker-bogie lunar rover is established with coordinate transformation

and the equation of position and orientation

expressed by the suspension kinematics parameters

is attained based on kinematics modeling. Taking vertical displacement and pitch angle change of the body as a multi-objective function

and the suspension parameters as design variables

a multi-objective optimization model is constructed

furthermore

the optimization solution is accomplished by the MATLAB optimization toolbox. The simulation analysis of lunar rover is carried out using ADAMS with initial value and optimization value

and the results show that the change of position and orientation of rocker-bogie lunar rover is reduced obviously after optimization.

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references

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XIAO Fugen, PANG Hewei. Introduction to lunar geological morphological features and lunar environment[J]. Spacecraft Environment Engineering, 2003, 6(2): 5-14.

IAGNEMMA K, RZEPNIEWSKI A, DUBOWSKY S. Control of robotic vehicles with actively articulated suspensions in rough terrain [J]. Autonomous Robots, 2003, 14: 5-16.

邓宗全, 李所军, 高海波. 行星探测车被动摇臂悬架的研究与发展 [J]. 宇航学报, 2008, 29(6): 1655-1700.

DENG Zongquan, LI Suojun, GAO Haibo. Research and development of passive rocker suspension of planetary exploration rover [J]. Journal of Astronautics,2008, 29(6): 1655-1700.

王佐伟,梁斌,吴宏鑫. 六轮月球探测车运动学建模与分析 [J].宇航学报,2003,24(5): 456-462.

WANG Zuowei, LIANG Bin, WU Hongxin. Kinematical modeling and analysis of six-wheel lunar rover[J]. Journal of Astronautics, 2003, 24(5): 456-462.

宋小康, 谈大龙, 吴镇炜,等.全地形轮式移动机器人的运动学建模与分析 [J]. 机械工程学报, 2008, 44(6): 148-154.

SONG Xiaokang, TAN Dalong, WU Zhenwei, et al. Kinematics modeling and analyses of all-terrain wheeled mobile robots [J]. Chinese Journal of Mechanical Engineering, 2008, 44(6): 148-154.

付京逊. 机器人学 [M]. 北京:中国科学技术出版社,1989:16-30.

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