低重力模拟平台上立方体巡视器姿态调整动力学行为

Bowen Jiang, Muhammad Talha Hussain, and Xiangyuan Zeng

School of Automation, Beijing Institute of Technology, Beijing 100081, China

Abstract: Cubic rovers that traverse by hopping systems are promising in low-gravity environments. Although several analyses of the control methods and mobility of the cubic rover are available, investigations of its attitude-adjusting behavior are still limited. This study derives the dynamic equations of the two attitude-adjusting modes of the cubic rover, referred to as walking and twisting. The relationships between the speed threshold and rotation angle of the cubic rover were investigated in both rigid and regolith environments using a self-designed low-gravity testbed. Comparative studies were conducted by considering the experimental and simulated outputs. The results of this study can be interesting for roving mission planning when exploring planetary moons and small celestial bodies.

Keywords: low-gravity testbed; attitude-adjusting motion; cubic rover; experimental study

Fig. 1 Prototype and design model of the cubic rover.

Fig. 2 Schematic of the walking motion.

Fig. 3 Schematic of the twisting motion (top view).

Fig. 4 Twisting motion of the rover on the regolith layer.

Fig. 5 Relationship between rotation angle and input torque.

Jiang B, Hussain M T, Zeng X. Attitude-adjusting dynamical behavior of cubic rover on low-gravity testbed[J]. Astrodynamics, 2024, 8(1): 149-159.

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