• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (12): 190-195.

• 论文 • 上一篇    下一篇

可重构星球探测机器人的机构设计

贺鑫元;马书根;李斌;王越超   

  1. 中国科学院沈阳自动化研究所;日本茨城大学系统工程系
  • 发布日期:2005-12-15

MECHANICAL DESIGN OF RECONFIGURABLE PLANETARY ROVER

He Xinyuan;Ma Shugen;Li Bin;Wang Yuechao   

  1. Shenyang Institute of Automation, the Chinese Academy of Sciences Department of Systems Engineering, Japanese Ibaraki University
  • Published:2005-12-15

摘要: 基于可重构思想设计了一种可重构星球探测机器人系统。系统由一个母体和几个子机器人组成,其中子机器人包括车轮和手臂两部分,可以作为独立作业的机器人,具有移动状态和工作状态两种模式。子机器人具有在一个驱动力作用下处于不同约束环境中时,表现为不同形式输出的特点,容易实现两种模式下的灵活运动。并深入研究了机构参数对子机器人运动的影响,用试验和仿真进行了验证,这为机器人的参数化设计及运动中的参数化调整提供了重要的理论依据。

关键词: 参数化设计, 机构参数, 可重构, 星球探测机器人, 表面粗糙度, 关系模型, 清晰度评价算法, 图像清晰度

Abstract: Based on the concept of reconfigurability, a new modular planetary rover system is designed for planetary exploration. It consists of the parent body and some children robots. A child robot is composed of the wheel part and the arm part, and has two moving modes. It can give output in different forms under various constraint conditions with only one actuator, so it can move during the two modes. The influence of the mechanical parameters on the rover locomotion is analyzed. The results are proved by the simulation and experiments. The method can be also applied to the parameterized design and parameterized adjustment of the rover.

Key words: Mechanical parameter, Parameterized design, Planetary rover, Reconfigurability, image definition, relational model, resolution evaluation algorithm, surface roughness

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