面向熔岩管探测的星球子车及其参数化设计方法研究

doi:10.3901/JME.2023.01.019

机械工程学报 ›› 2023, Vol. 59 ›› Issue (1): 19-34.doi: 10.3901/JME.2023.01.019

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面向熔岩管探测的星球子车及其参数化设计方法研究

黄澜¹, 于兆玮¹, 丁亮¹, 杨怀广¹, 高海波¹, 邓宗全¹, 杨辰光²

1. 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;
2. 西英格兰大学布里斯托机器人实验室布里斯托BS16 1QY英国

收稿日期:2021-12-13 修回日期:2022-10-10 出版日期:2023-01-05 发布日期:2023-03-30
通讯作者: 丁亮(通信作者),男,1980年生,博士,教授,博士研究生导师。主要研究方向为星球探测车、野外足式机器人的系统设计与智能控制。E-mail:liangding@hit.edu.cn;杨怀广(通信作者),男,1991年生,博士,讲师。主要研究方向为星球车移动机器人地面力学及数字孪生。E-mail:yanghuaiguang@hit.edu.cn
作者简介:黄澜,男,1993年出生,博士研究生。主要研究方向为星球车力学建模及运动控制。E-mail:huanglanxyz@163.com;于兆玮,男,1997年出生,硕士研究生。主要研究方向为星球车结构设计及运动控制。E-mail:936483178@qq.com;高海波,男,1970年生,博士,博士研究生导师。主要研究方向为轮式星球车移动技术、野外环境和宇航空间机构微低重力模拟技术。E-mail:gaohaibo@hit.edu.cn;邓宗全,男,1956年生,博士生导师,中国工程院院士。主要研究方向为宇航空间机构及控制、特种环境移动机器人。E-mail:dengzq@hit.edu.cn;杨辰光,男,1982年生,博士,博士研究生导师。主要研究方向为人机交互、机器人遥操作以及智能控制。Email:chenguang.yang@brl.ac.uk
基金资助:
国家自然科学基金（51822502，52005122）和中央高校基本科研业务费专项资金（FRFCU9803500621）资助项目。

Planetary Child Rover for Lava Tube Exploration and Its Parametric Design

HUANG Lan¹, YU Zhaowei¹, DING Liang¹, YANG Huaiguang¹, GAO Haibo¹, DENG Zongquan¹, YANG Chenguang²

1. State key Laboratory of Robot and System, Harbin Institute of Technology, Harbin 150080;
2. Bristol Robotics Laboratory, the University of the West of England, Bristol BS16 1QY, UK

Received:2021-12-13 Revised:2022-10-10 Online:2023-01-05 Published:2023-03-30

摘要/Abstract

摘要： 星球熔岩管是进入星球地下的捷径，具有较高的科学探测及资源勘探价值。提出了一种新型系绳星球熔岩管探测子车，并开展其参数化设计研究。面向熔岩管管口大坡度斜坡绳索释放回收问题以及熔岩管内探测车转向问题对系绳轮式移动机构进行了构型设计。基于地面力学理论，考虑三轮移动系统在熔岩管口周围及管底堆积区松软地形内移动能力，以及探测车在崎岖硬质熔岩管内壁中的几何通过性、平稳性和抗颠覆性等因素对系绳三轮移动系统进行了参数优化设计。在模拟外星球地表环境中的仿真和试验结果表明，使用提出的优化设计方法设计出来的星球车完全满足预定的技术要求，相比于参数优化之前具备更强的移动性能，并可为四轮、六轮等多轮星球车参数化设计提供有益借鉴。

关键词: 熔岩管探测, 星球子车, 参数化设计, 多轮移动系统, 地面力学

Abstract: Planetary lava tubes which are shortcuts into the extraterrestrial ground are of particular interest to scientific and mineral exploration. This research presents a new tethered planetary lava tube exploration rover and researches its parametric design method. With consideration of steering and tether-assisted release and retrieve on the cliff of the lava tube, the configuration of the planetary rover is designed. Based on terramechanics, the parametric optimization design of the tethered three-wheeled mobile mechanism is completed with consideration of mobility on deformable terrains around the entrance of the lava tube and in the accumulation area at the bottom of the lava tube, as well as the load distribution, placidity and anti-tipping on the non-deformable terrain the of lava tube. Simulation and experimental results demonstrate that the planetary rover designed by using the proposed method satisfies the technical requirements; compared with those without optimization, the rover has stronger mobility, which supports the parametric design of multi-wheel (4-wheel, 6-wheel, etc.) planetary rovers.

Key words: lava tube exploration, planetary child rover, parametric design, multi-wheeled mobile system, terramechanics

中图分类号:

TH122

黄澜, 于兆玮, 丁亮, 杨怀广, 高海波, 邓宗全, 杨辰光. 面向熔岩管探测的星球子车及其参数化设计方法研究[J]. 机械工程学报, 2023, 59(1): 19-34.

HUANG Lan, YU Zhaowei, DING Liang, YANG Huaiguang, GAO Haibo, DENG Zongquan, YANG Chenguang. Planetary Child Rover for Lava Tube Exploration and Its Parametric Design[J]. Journal of Mechanical Engineering, 2023, 59(1): 19-34.

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面向熔岩管探测的星球子车及其参数化设计方法研究

Planetary Child Rover for Lava Tube Exploration and Its Parametric Design

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