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

扫码分享

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.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.2019.01.001

http://www.cjmenet.com.cn/CN/Y2019/V55/I1/1

参考文献

[1] BASILEVSKY A T,ABDRAKHIMOV A M,HEAD J W,et al. Geologic characteristics of the Luna 17/Lunokhod 1 and Chang' E-3/Yutu landing sites,North Mare Imbrium of the Moon[J]. Planetary and Space Science,2015,117:385-400.
[2] DAVID B. NASA Mars rover manual:1997-2013(Sojourner,Spirit,Opportunity and Curiosity)[M]. London:Haynes Publishing UK,2013.
[3] LAKDAWALLA E. The design and engineering of curiosity[M]. New York:Springer,2018.
[4] DAVID P M,LEE T L. High-speed traversal of rough terrain using a rocker-bogie mobility system[C]//5th International Conference and Exposition on Robotics for Challenging Situations and Environments,March,17-21,2002,Albuquerque,New Mexico,United States:ASCE,2002:428-434.
[5] JEFFREY E C. Simulation of a six wheeled Martian rover called the rocker bogie[D]. Ohio:Ohio State University,1992.
[6] 李所军,高海波,邓宗全. 摇臂式月球车的运动学建模及悬架参数优化[J]. 西安交通大学学报,2009,43(9):62-66. LI Suojun,GAO Haibo,DENG Zongquan. Kinematics modeling of rocker-bogie lunar rover and suspension parameter optimization[J]. Journal of Xi'an Jiaotong University,2009,43(9):62-66.
[7] KUMAR P,PATHAK P M. Dynamic modeling,simulation and velocity control of rocker-bogie rover for space exploration[J]. International Journal of Intelligent Mechatronics & Robotics,2017,1(2):27-41.
[8] 黄卫东,鲍劲松,徐有生,等. 月球车坡路行驶地面力学模型与运动性能分析[J]. 机械工程学报,2013,49(5):17-23. HUANG Weidong,BAO Jinsong,XU Yousheng,et al. Terramechanics model and movement performance analysis of a lunar rover for slope travel[J]. Journal of Mechanical Engineering,2013,49(5):17-23.
[9] BEKKER G. Theory of land locomotion (mechanism of vehicle mobility)[M]. Ann Arbor:University of Michigan Press,1956.
[10] WONG J,REECE A R. Prediction of rigid wheel performance based on analysis of soil-wheel stresses[J]. Part I Performance of Driven Rigid Wheels,1967,4:81-98.
[11] SENATORE C,IAGNEMMA K. Analysis of stress distributions under light weight wheeled vehicles[J]. Journal of Terramechanics,2014(51):1-17.
[12] SHIRAI T,ISHIGAMI G. Development of in-wheel sensor system for accurate measurement of wheel terrain interaction characteristics[J]. Journal of Terramechanics,2015,62(8849):51-61.
[13] SHIBLY H,IAGNEMMA K,DUBOWSKY S. An equivalent soil mechanics formulation for rigid wheels in deformable terrain,with application to planetary exploration rovers[J]. Journal of Terramechanics,2005,42(1):1-13.
[14] DING L,GAO H,DENG Z,et al. Experimental study and analysis on driving wheels' performance for planetary exploration rovers moving in deformable soil[J]. Journal of Terramechanics,2011,48(1):27-45.
[15] 邹猛,李建桥,张金换,等. 月球车驱动轮在不同介质上的牵引性能[J]. 吉林大学学报,2010,40(1):25-29. ZOU Meng,LI Jianqiao,ZHANG Jinhuan,et al. Traction ability of lunar rover's driving wheel on different soils[J]. Journal of Jilin University,2010,40(1):25-29.
[16] SMITH J A,SHARF I,TRENTINI M. PAW:A hybrid wheeled-leg robot[C]//IEEE International Conference on Robotics and Automation,May,15-19,2006,Orlando,Florida,United States:IEEE,2006:4043-4048.
[17] GRAND C,BENAMAR F,PLUMET F. Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation[J]. Mechanism & Machine Theory,2010,45(3):477-495.
[18] BARTLETT P W,WETTERGREEN D,WHITTAKER W L. The scarab rover as designed for lunar science and resource exploration[C]//Lunar and Planetary Science Conference,March,10-14,2008,League City,Texas,United States:SAO/NASA,2008:2120-2121.
[19] TAROKH M,MCDERMOTT G. A systematic approach to kinematics modeling of high mobility wheeled rovers[C]//IEEE International Conference on Robotics and Automation,April,10-14,2007,Roma,Italy:IEEE,2007:4905-4910.
[20] TAROKH M,HO H D,BOULOUBASIS A. Systematic kinematics analysis and balance control of high mobility rovers over rough terrain[J]. Robotics & Autonomous Systems,2013,61(1):13-24.
[21] ZHENG J Q,GAO H. Design and terramechanics analysis of a Mars rover utilizing active suspension[J]. Mechanism and Machine Theory,2018,128:125-149.
[22] RANKINE W J M. On the stability of loose earth[J]. Philosophical Transactions,1857,147:9-27.
[23] SULLIVAN R,ANDERSON R,BIESIADECKI J,et al. Cohesions and friction angles of Martian regolith from MER wheel trenches[C]//41st Lunar and Planetary Science Conference,March,1-5,2010,Woodlands,Texas,United States:NASA,2010:1879-1880.
[24] 杨怀广,丁亮,高海波,等. 星球车车轮原地转向沉陷试验及模型研究[J]. 机械工程学报,2017,53(8):100-108. YANG Huaiguang,DING Liang,GAO Haibo,et al. Experimental study and modeling of wheel's steering sinkage for planetary exploration rovers[J]. Journal of Mechanical Engineering,2017,53(8):100-108.
[25] GUO J L,DING L,GAO H B. An apparatus to measure wheel-soil interactions on sandy terrains[J]. IEEE/ASME Transactions on mechatronics,2018,23(1):352-363.
[26] 丁亮,高海波,邓宗全,等. 基于应力分布的月球车轮地相互作用地面力学模型[J]. 机械工程学报,2009,45(7):49-55. DING Liang,GAO Haibo,DENG Zongquan,et al. Terramechanics model for wheel-terrain interaction of lunar rover based on stress distribution[J]. Journal of Mechanical Engineering,2009,45(7):49-55.
[27] 肖万申,张岩. 载人月球车车轮设计及基于弹性车轮轮壤相互作用的力学模型研究[J]. 机械工程学报,2016,52(10):119-125. XIAO Wanshen,ZHANG Yan. Design of wheel of manned lunar rover and research on terramechanics model for wheel-terrain interaction based on elastic wheel[J]. Journal of Mechanical Engineering,2016,52(10):119-125.

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

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	樊波, 胡波, 陈子明, 姚建涛. 基于非均匀有理B样条的无人装载机铲装轨迹多目标优化[J]. 机械工程学报, 2026, 62(7): 185-195.
[2]	顾连睿, 郭国强, 江仁政, 毋天歌, 柯帅, 孔志学, 赵欢. 薄壁复杂结构的机器人打磨路径规划和力位控制技术现状与发展[J]. 机械工程学报, 2026, 62(5): 117-132.
[3]	张涛, 何家豪, 施永平, 赵萍, 汪键, 王伟. 基于改进Stribeck摩擦的协作机器人动力学参数辨识[J]. 机械工程学报, 2026, 62(5): 151-167.
[4]	林松, 戴建生, 宋屹峰, 王洪光, 袁兵兵. 具有可重构躯干的轮式移动机器人曲面运动特性分析[J]. 机械工程学报, 2026, 62(5): 168-181.
[5]	孙鹏, 葛梦虎, 芮超, 曹利康, 陈波, 王剑斌, 李研彪. 混联双足机械腿的动力学建模与参数辨识[J]. 机械工程学报, 2026, 62(5): 192-203.
[6]	郭世航, 王神龙, 侯锦辉, 李永歌. 单磁驱动多自由度软体机器鱼设计与动力学建模[J]. 机械工程学报, 2026, 62(5): 215-229.
[7]	谭励, 余煌, 杜小强, 贺磊盈, 马锃宏. 基于稳定夹持的类球形果实采摘末端执行器优化设计与试验[J]. 机械工程学报, 2026, 62(3): 353-365.
[8]	郭万金, 利乾辉, 徐明坤, 侯旭栋, 刘孝恒, 曹雏清, 赵立军. 高抗干扰性的无力传感器工业机器人外力估计方法[J]. 机械工程学报, 2026, 62(3): 366-383.
[9]	高建设, 暴雨萌, 宛磊, 刘强, 丁顺良, 饶晓波. 被动双足机器人的吸引盆内部拓扑结构[J]. 机械工程学报, 2026, 62(3): 384-395.
[10]	赵浩宇, 侯鹏帅, 陈星全, 邵宇乐, 董奇, 陈杰. 非结构化地形环境下移动机器人导航[J]. 机械工程学报, 2026, 62(3): 396-406.
[11]	杨秀建, 袁志豪. 基于交错式栅格粒度地图的非平坦地形环境下无人车辆路径规划[J]. 机械工程学报, 2026, 62(2): 313-328.
[12]	刘海波, 邓平, 迟庆宇, 刘天然, 刘阔, 李特, 黄祖广, 刘行健, 薄其乐, STEVEN Y LIANG, 王永青. 智能加工中数据使能技术与应用[J]. 机械工程学报, 2026, 62(2): 407-444.
[13]	刘争, 张泽, 张嘉骏, 谢福贵, 刘辛军. 航天构件加工移动式混联机器人颤振稳定域分析与铣削验证[J]. 机械工程学报, 2026, 62(1): 195-203.
[14]	庞文, 朱大奇, 林姝晗, 陈铭治. 基于多水下航行器编队控制的水下目标协同搬运研究[J]. 机械工程学报, 2025, 61(24): 363-376.
[15]	张明, 郭怀超, 温建明, 孙凤, 孙兴伟, 房立金, 岡宏一. 基于肌电信号的变刚度机器人关节运动性能提升机制[J]. 机械工程学报, 2025, 61(23): 27-40.