NDLI: Mobility performance evaluation of lunar rover and optimization of rocker-bogie suspension parameters

Content Provider	IEEE Xplore Digital Library
Author	Suojun Li Haibo Gao Zongquan Deng
Copyright Year	2008
Description	Author affiliation: Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin (Suojun Li; Haibo Gao; Zongquan Deng)
Abstract	In order to provide a steady platform for scientific instruments, decrease the energy consumption, it is important to analyze and improve the mobility performance of lunar rovers. The mobility performance indexes are built based on four kinds of work conditions by summarizing the lunar surface terrain characteristics. The performance of overturning stability, load equalization of the wheels and trafficability are analyzed. The optimization mathematical model of the suspension parameters is established. Based on the sequence quadratic programming (SQP) algorithm, the optimal parameters of the suspension are obtained by taking the maximum energy consumption of motor and stationarity of mass center as the optimization objectives and overturning stability and trafficability parameters as constraints. The results indicate that the energy consumption of the motors, displacement and pitch angle of the mass center reduces significantly.
Starting Page	1
Ending Page	6
File Size	632458
Page Count	6
File Format	PDF
ISBN	9781424439089
DOI	10.1109/ISSCAA.2008.4776154
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-10
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Energy consumption Instruments Moon Wheels Stability analysis Quadratic programming rocker-bogie suspension Constraint optimization Traffic control Performance analysis mobility performance evaluation Mathematical model lunar rover parameters optimization
Content Type	Text
Resource Type	Article

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