{"title":"新型多级转向架火星探测车的稳定性研究","authors":"O. Kilit, Alper Yontar","doi":"10.1109/RAST.2009.5158185","DOIUrl":null,"url":null,"abstract":"A rough terrain adaptive rover using a novel suspension system with extremely high mobility is described. By using a multi stage type of a well-known bogie system, a rover gains a high level of adaptability to rough terrain. A novel method to model the rover path which doesn't require any surface modeling tool of rough terrain is represented. Two tilting angles - measured about both longitudinal and lateral axes of the rover body - are taken into consideration as stability criteria. Through the computer simulation, the kinematics model of the mobile robot moving on a randomly generated rough terrain is verified.","PeriodicalId":412236,"journal":{"name":"2009 4th International Conference on Recent Advances in Space Technologies","volume":"283 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Stability of a new mars rover with multi-stage bogie mechanism\",\"authors\":\"O. Kilit, Alper Yontar\",\"doi\":\"10.1109/RAST.2009.5158185\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A rough terrain adaptive rover using a novel suspension system with extremely high mobility is described. By using a multi stage type of a well-known bogie system, a rover gains a high level of adaptability to rough terrain. A novel method to model the rover path which doesn't require any surface modeling tool of rough terrain is represented. Two tilting angles - measured about both longitudinal and lateral axes of the rover body - are taken into consideration as stability criteria. Through the computer simulation, the kinematics model of the mobile robot moving on a randomly generated rough terrain is verified.\",\"PeriodicalId\":412236,\"journal\":{\"name\":\"2009 4th International Conference on Recent Advances in Space Technologies\",\"volume\":\"283 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-06-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 4th International Conference on Recent Advances in Space Technologies\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAST.2009.5158185\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 4th International Conference on Recent Advances in Space Technologies","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAST.2009.5158185","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Stability of a new mars rover with multi-stage bogie mechanism
A rough terrain adaptive rover using a novel suspension system with extremely high mobility is described. By using a multi stage type of a well-known bogie system, a rover gains a high level of adaptability to rough terrain. A novel method to model the rover path which doesn't require any surface modeling tool of rough terrain is represented. Two tilting angles - measured about both longitudinal and lateral axes of the rover body - are taken into consideration as stability criteria. Through the computer simulation, the kinematics model of the mobile robot moving on a randomly generated rough terrain is verified.
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