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Proceedings of 2009 International Workshop on Information Security and Application (IWISA 2009)

Qingdao, China, November 21-22, 2009

Editors: Feng Gao and Xijun Zhu

AP Catalog Number: AP-PROC-CS-09CN004

ISBN: 978-952-5726-06-0

Page(s): 62-65

Analysis on Three Kinds of Framework for Sojournerís Six-wheeled Rocker Suspension

††††††† Jin-sheng Ma, Jiu-rui Cheng, Da-min Zhuang, and Hao-qin Gong

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The climbing vertical obstacle capability is one of the important assessment indicator for the planet exploration vehicle. The Sojourner planet rover represents the leading level of a hot research area - the wheel style. The analysis of Sojournerís over-obstacle principle and its process were introduced, and it was expressed by 7 parameters. The selection of the driven moment for the machine and the mathematic model were also discussed. According to the actual movement, the rolling friction was drawn into the model and an instance was given. Finally, the capability of triangle, rectangle, arc framework was analysed and researched based on the mechanics model of Sojournerís six-wheeled rocker suspension, their mathematic models were established using the same method as the second part of the paper, and sketches of the obstacle crossing capability were drawn using Matlab, then the triangle framework was proved to have the best capability.

Index Terms

rocker suspension; obstacle crossing; triangle framework; rectangle framework; arc framework

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