Centroid Measurement Method and Experimental Study of Multi-configuration Planetary Rover

doi:10.3901/JME.2019.12.019

Abstract

Abstract: Studying and determining the measurement method for the centroid of a multi-configuration planetary rover is of great significance for improving the control performance and obstacle ability and reducing the energy consumption. By analyzing the configuration characteristics and the relationship between its configuration and the position of the centroid, the measurement principle of lift method is used to measure the centroid. Based on the configuration of the planetary, the transformation matrix is given. And based on the measurement characteristics of the static balance equation and lift method, a measurement unified model is established. Furthermore, the dimension reduced model is derived, which can improve the accuracy of centroid measurement because it reduces the number of input parameters. Taking into full account the characteristics of the multi-wheel and multi-configuration, the measurement system is designed with six joint-arm measuring units. Then the mechanical system and electronic control system of the system are designed, and the prototype system is developed according the design. The planetary rover centroid measurement experiment is carried out using the prototype, and the effectiveness of the centroid measurement method and the centroid measurement system is verified. Based on the experimental data of centroid measurement, the relationship curves between centroid and configuration parameters are fitted to determine the configuration parameters corresponding to the end points of the centroid area. The result of the centroid measurement experiment provides the data references for the ground low-gravity simulated driving test and motion control of the planetary rover. Then the Monte Carlo method is used to evaluate the uncertainty of centroid measurement in multi-configuration. According to the evaluation results, the centroid measurement accuracy of 3 directions of the planetary rover is 0.28 mm, 0.33 mm and 0.89 mm.

Key words: multi-configuration planetary rover, centroid measurement model, centroid measurement system, centroid measurement experiment, centroid area, accuracy analysis

CLC Number:

V416

NA Qiang, LI Bo, TAO Jianguo, YU Jinshan, FAN Shichao. Centroid Measurement Method and Experimental Study of Multi-configuration Planetary Rover[J]. Journal of Mechanical Engineering, 2019, 55(12): 19-28.

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