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Proceedings Paper

Mechanical analysis about the spherical mobile robot on the moon environment
Author(s): Wei Zhao; Hanxu Sun; Qingxuan Jia; Yanheng Zhang
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Paper Abstract

In this paper we establish mechanical model of the interaction between spherical mobile robot and lunar soil under the moon environment. Two cases are considered: 1.static case in which the spherical robot sits stationary on the moon surface, 2.dynamic case in which the spherical robot rolls over the moon surface with a constant forward speed. Curves of mathematical model is obtained by the software of Matlab. Then we create the model of lunar soil and the spherical robot in the software of ANSYS. We obtain some difference datas about the relationships between the shape of lunar soil and carrying capability of the spherical robot. We obtain curves with these datas by Matlab curve fitting. Compare curves obtained by Matlab with curves obtained by ANSYS and Matlab curve fitting we can see that these two groups of curves are broadly consistent with each other. These simulation results verify the validity of the mathematical model.

Paper Details

Date Published: 23 May 2011
PDF: 11 pages
Proc. SPIE 8044, Sensors and Systems for Space Applications IV, 80440W (23 May 2011); doi: 10.1117/12.883779
Show Author Affiliations
Wei Zhao, Beijing Univ. of Posts and Telecommunications (China)
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)
Yanheng Zhang, Beijing Univ. of Posts and Telecommunications (China)


Published in SPIE Proceedings Vol. 8044:
Sensors and Systems for Space Applications IV
Khanh D. Pham; Henry Zmuda; Joseph Lee Cox; Greg J. Meyer, Editor(s)

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