Mechanical analysis about the spherical mobile robot on the moon environment

Wei Zhao; Hanxu Sun; Qingxuan Jia; Yanheng Zhang

doi:10.1117/12.883779

23 May 2011 Mechanical analysis about the spherical mobile robot on the moon environment

Wei Zhao, Hanxu Sun, Qingxuan Jia, Yanheng Zhang

Proceedings Volume 8044, Sensors and Systems for Space Applications IV; 80440W (2011) https://doi.org/10.1117/12.883779
Event: SPIE Defense, Security, and Sensing, 2011, Orlando, Florida, United States

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.

Citation Download Citation

Wei Zhao, Hanxu Sun, Qingxuan Jia, and Yanheng Zhang "Mechanical analysis about the spherical mobile robot on the moon environment", Proc. SPIE 8044, Sensors and Systems for Space Applications IV, 80440W (23 May 2011); https://doi.org/10.1117/12.883779

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