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Motion control of a lunar rover is precondition of accomplishing exploration tasks. In order to minimize the power consumption, the power optimum control was carried out for a lunar rover prototype with six cylinder-conical wheels in wheel-walking motion mode. In terms of mechanism principle and configuration features of the lunar rover, the kinematics model of wheel-walking motion was built up. The...
This paper analyses the motion of articulated lunar Rover with six cylinder-conical wheels and force acting to wheels, and presents six operation patterns of motion of rover' wheel and The free-running operation pattern is perfect. In this pattern, the power dissipation between of mechanisms is minimum. The different mode of motor has influence on stability of motion in various terrains. We analyze...
Robotic rovers are mobile robots to perform challenging tasks in unstructured terrain. In this paper a six-wheeled robotic rover was developed with mobility in rough terrain. The rover consists of three configuration segments with a pair of cylinder-conical motorized wheels, joined together by two articulated suspensions with three degree-of-freedom. The two articulated suspensions will improve the...
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