To address high degree of freedom planetary rover modeling and enhance dynamic performance, an innovative joint-space multi-axis dynamics modeling theory is proposed. The approach aims to streamline the dynamic modeling process by introducing concepts such as topology, natural coordinate system and kinematic iterations. Through an analysis of closed subtrees’ properties and characteristics, an improved Lagrange equation with topology-operable properties is derived and presented. Subsequently, by analyzing the backward iteration process of external forces and torque and eliminating redundant variables, canonical dynamic equations are derived. These equations feature full parameterized modeling and explicit expression. The correctness and accuracy of this method are validated through dynamic simulations of the Mars rover. The proposed method offers the advantage of significantly reducing modeling and calculation complexity, as demonstrated through comparisons with other mature dynamics methods.

中文翻译：

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行星漫游器创新的联合空间多轴动力学建模理论


为了解决高自由度行星漫游器建模并增强动态性能，提出了一种创新的关节空间多轴动力学建模理论。该方法旨在通过引入拓扑、自然坐标系和运动学迭代等概念来简化动态建模过程。通过对闭子树的性质和特点的分析，推导并提出了一种具有拓扑可操作性的改进拉格朗日方程。随后，通过分析外力和扭矩的向后迭代过程并消除冗余变量，推导出正则动力学方程。这些方程具有完整的参数化建模和显式表达。通过火星车动态仿真验证了该方法的正确性和准确性。通过与其他成熟的动力学方法的比较证明，所提出的方法具有显着降低建模和计算复杂性的优点。