Based on the study of passive articulated rover,a complete suspension kinematics model from wheel to inertial reference frame is presented,which uses D-H method of manipulator and presentation with Euler angle of pitc...Based on the study of passive articulated rover,a complete suspension kinematics model from wheel to inertial reference frame is presented,which uses D-H method of manipulator and presentation with Euler angle of pitch,roll and yaw.An improved contact model is adopted aimed at the loose and rough lunar terrain.Using this kinematics model and numerical continuous and discrete Newton's method with iterative factor,the numerical method for estimation of kinematical parameters of articulated rovers on loose and rough terrain is constructed.To demonstrate this numerical method,an example of two torsion bar rocker-bogie lunar rover with eight wheels is presented.Simulation results show that the numerical method for estimation of kinematical parameters of articulated rovers based on improved contact model can improve the precision of kinematical estimation on loose and rough terrain and decrease errors caused by contact models established based on general hypothesis.展开更多
A row of dominoes which stand on edge will undergo a cascade when the first domino is tipped. First domino strokes the next and the wave of falling dominoes propagates. The purpose of this work is to investigate wave ...A row of dominoes which stand on edge will undergo a cascade when the first domino is tipped. First domino strokes the next and the wave of falling dominoes propagates. The purpose of this work is to investigate wave speed dependence on various domino parameters as the number of elements and the distance between dominoes and their dimensions. Theoretical examination of falling dominoes process is to create the mathematical model of the process and compare between the calculations and experimental results. An experiment with using of the speed camera was made. The dominoes of three different types of material were used. For theoretical investigation of the problem, the model [1] was used. The program for computer calculations was written. Time of a dominoes row falling was calculated without taking friction between neighbours. The calculation results show that the speed of falling dominoes reaches its constant value. This stable velocity depends on the geometric parameters of dominoes and the surface friction between dominoes but does not depend on the mass of dominoes.展开更多
基金Sponsored by the National High Technology Research and Development Program of China(863 Program)(Grant No.2006AA04Z231)the National Science Foundation of Heilongjiang Province(Grant No.ZJG0709)"The 111 Project"(Grant No.B07018)
文摘Based on the study of passive articulated rover,a complete suspension kinematics model from wheel to inertial reference frame is presented,which uses D-H method of manipulator and presentation with Euler angle of pitch,roll and yaw.An improved contact model is adopted aimed at the loose and rough lunar terrain.Using this kinematics model and numerical continuous and discrete Newton's method with iterative factor,the numerical method for estimation of kinematical parameters of articulated rovers on loose and rough terrain is constructed.To demonstrate this numerical method,an example of two torsion bar rocker-bogie lunar rover with eight wheels is presented.Simulation results show that the numerical method for estimation of kinematical parameters of articulated rovers based on improved contact model can improve the precision of kinematical estimation on loose and rough terrain and decrease errors caused by contact models established based on general hypothesis.
文摘A row of dominoes which stand on edge will undergo a cascade when the first domino is tipped. First domino strokes the next and the wave of falling dominoes propagates. The purpose of this work is to investigate wave speed dependence on various domino parameters as the number of elements and the distance between dominoes and their dimensions. Theoretical examination of falling dominoes process is to create the mathematical model of the process and compare between the calculations and experimental results. An experiment with using of the speed camera was made. The dominoes of three different types of material were used. For theoretical investigation of the problem, the model [1] was used. The program for computer calculations was written. Time of a dominoes row falling was calculated without taking friction between neighbours. The calculation results show that the speed of falling dominoes reaches its constant value. This stable velocity depends on the geometric parameters of dominoes and the surface friction between dominoes but does not depend on the mass of dominoes.
