Abstract
This article proposes a six-wheel lunar exploration robot which will move on the lunar surface. It is known that lunar surface is mostly rugged. When the six-wheel lunar exploration robot moves on the rugged surface, its centroid position will change, which has an impact on the vehicle obstacle performance and anti-overturning performance, and so on. Therefore, it is very important to analyze the centroid domain of the robot. In order to get the relation between centroid domain and position as well as the posture equation during the motion process, the kinematics model of the robot is built based on the coordinate transforming relations. So the calculation formula of centroid domain and body posture equation at any movement position are obtained. The mathematical model of detection robot is analyzed by entity analysis. So the centroid vector model of radial angle change curve and the changing rule of both sides of the rocker arm angle and centroid vector mode are given. MATLAB [version 6.0] is used to optimize the parameters of the robot and ADAMS is used to simulate the process when the robot moving on the rugged lunar surface. The results show that the centroid domain is a flat area. Based on the calculations and simulations, the vertical displacement and the pitch angle of the robot are decreased with different degrees after the optimization of the rocker arm suspension and the integrated moving stable performance of the lunar exploration robot is obviously enhanced.
Highlights
Mobile robots have become increasingly present in humanrelated activities either to remove the hazards or to carry large and critical payloads safely
The robot system is considered as a mass point–plane model, and the kinematics features are analyzed to find the relationship between the centroid position and the maximal pitch angle of stairs the robot could climb up
When the lunar exploration robot moves at any movement position, the variation curve of centroid vector modulus R to b1 and b2 can be obtained by MATLAB
Summary
Mobile robots have become increasingly present in humanrelated activities either to remove the hazards or to carry large and critical payloads safely. Unluturk and Aydogdu introduced a novel real-time artificial neural network– based adaptable switching dynamic controller It will be used for real-time control of two-wheeled balance robot which can balance itself upright position on different surfaces.[12] Using ADAMS Li13 analyzed the lunar exploration robot’s capability of getting through vertical obstacle from the perspective of geometry and mechanical conditions and analyzed the influence of the change of mass center position to the crossing obstacle performance. Six-wheel lunar probe robot with rocker suspension which is used in this article can be seen as a multi-rigid body system, centroid domain of which refers to the largest region of robot’s centroid relative to the changes of system’s own coordinate system and it is represented by a centroid region radius. Left forearm and front wheel Right forearm and front wheel Left rocker and middle, rear wheel Right rocker and middle, rear wheel Body Lunar exploration robot
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