轮-步复合式火星车移动系统设计及分析

doi:10.3901/JME.2019.01.001

机械工程学报 ›› 2019, Vol. 55 ›› Issue (1): 1-16.doi: 10.3901/JME.2019.01.001

• 机械动力学 • 下一篇

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轮-步复合式火星车移动系统设计及分析

高海波, 郑军强, 刘振, 王亚彬, 于海涛, 邓宗全

哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150080

收稿日期:2018-05-11 修回日期:2018-09-11 出版日期:2019-01-05 发布日期:2019-01-05
通讯作者: 刘振(通信作者),男,1983年出生,博士,副教授,硕士研究生导师。主要研究方向为宇航空间机构与控制、星球车低重力模拟。E-mail:liuzhen_hit@163.com
作者简介:高海波,男,1970年出生,博士,教授,博士研究生导师。主要研究方向为宇航空间机构与控制、特种移动机器人。E-mail:gaohaibo@hit.edu.cn;郑军强,男,1986年出生,博士研究生。主要研究方向为宇航空间机构与控制、轮式移动机器人。E-mail:zhengjunqiang@hit.edu.cn
基金资助:
国家自然科学基金委创新研究群体（51521003）、国家自然科学基金（51405109）、"111"创新引智计划（B07018）和机器人技术与系统国家重点实验室自主课题（SKLR2016B）资助项目。

Design and Performance of a Wheel-legged Mobility System of Mars Rover

GAO Haibo, ZHENG Junqiang, LIU Zhen, WANG Yabin, YU Haitao, DENG Zongquan

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080

Received:2018-05-11 Revised:2018-09-11 Online:2019-01-05 Published:2019-01-05

摘要/Abstract

摘要： 为了解决轮式火星探测车在松软地面上的通过性受到轮-地作用机制限制的问题，提出一种具备轮-步复合移动能力的四轮火星探测车构型。基于地面力学数值计算方法对制动轮附着力和驱动轮牵引力进行了比较，明确了该车的地面力学机理。提出一种双摆杆式步行机构，确定了移动系统结构。利用带传动关联双摆杆步行机构的两个回转运动，使其比独立驱动具有更好的负载特性和功率特性。使用行星轮系和制动器实现轮行、步行、轮-步复合、制动四种运行状态，依托行星轮系实现轮-步匹配，使得轮-步复合移动的控制大幅简化。针对坡面行驶工况和坡面步行工况进行负载分析，给出了步行传动和车轮驱动传动的传动比计算方法和减速器布置，完成了轮-步复合移动机构设计和制造。分析了典型步态，并通过仿真方法对各步态下关节负载变化规律进行了分析。研究旨在拓展火星车研究理论和方法，为我国火星探测任务提供移动系统研制建议。

关键词: 高通过性悬架, 火星车移动系统, 机械设计原理与方法, 轮-步复合移动方式

Abstract: In order to overcome the problem that the traction of wheeled rover on loose terrain is limited by the wheel-soil mechanism. A four wheeled Mars rover with wheel-legged mobility is proposed. The adhesion of the brake wheel and the traction of the driving wheel is compared based on terramechanics, the sole mechanism of wheel-legged is clarified. A double pendulum walking mechanism is presented. Two rotate joints of double pendulum walking mechanism are associated with a belt drive. The driving motor takes less load and costs less energy than that the joints are drove independently. One planetary gear train and two brakes are utilized to control the four operating states of mobile system:wheel, step, wheel-legged and brake. The calculation methods of transmission ratio of wheel motion and step motion are given according to the load analysis of slope wheeled climbing and slope wheel-legged walking. The design and manufactured of the prototype is completed after the set of reducers is clarified. The typical gaits are proposed and the variation on joint load with each gait is analyzed built on simulation. This research aims to expand structures and research methods of Chinese rover, and to provide recommendations for future Mars exploration.

Key words: good performance suspension, Mars rover mobility system, principle and method of mechanical design, wheel-legged mobility system

中图分类号:

TP242

高海波, 郑军强, 刘振, 王亚彬, 于海涛, 邓宗全. 轮-步复合式火星车移动系统设计及分析[J]. 机械工程学报, 2019, 55(1): 1-16.

GAO Haibo, ZHENG Junqiang, LIU Zhen, WANG Yabin, YU Haitao, DENG Zongquan. Design and Performance of a Wheel-legged Mobility System of Mars Rover[J]. Journal of Mechanical Engineering, 2019, 55(1): 1-16.

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轮-步复合式火星车移动系统设计及分析

Design and Performance of a Wheel-legged Mobility System of Mars Rover

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