摇臂式六轮探测车空间姿态建模与求解

摇臂式六轮探测车在通过复杂地形或障碍时，车体空间姿态不断发生变化.为了建立探测车的空间姿态模型，对摇臂式六轮探测车结构进行抽象概括，定义了探测车的5个空间姿态参数（包含探测车差动轴与水平地面倾角，主副摇臂转角等），同时以探测车6个轮心高度作为模型的地形参数，完成了探测车空间姿态数学模型的建立.基于此数学模型，给出了空间姿态模型正解与逆解的相应求解方法，为分析探测车性能奠定了基础.

Spatial Attitude Model of Six-Wheeled Rocker Rover and Its Mathematical Solution

The spatial attitude of six-wheeled rocker rover constantly changes when it crosses complex terrains or obstacles. In order to model the spatial attitude of the rover, the structure of the rover was simplified and summarized. Five spatial parameters of the rover were defined (the parameters include the inclination angles between differential shaft and level ground, rotation angles of main and sub rockers) and the center height of six wheels was involved in the model as terrain parameters. Finally, the mathematical model of the spatial attitude of the rover was established, based on which the forward solution and inverse solution were defined and corresponding solutions were proposed. This research provides the basis for the performance analysis of the six-wheeled rocker rover in different aspects.