• CN:11-2187/TH
  • ISSN:0577-6686

›› 2007, Vol. 43 ›› Issue (12): 178-183.

• 论文 • 上一篇    下一篇

基于构型组合的空间探测机器人移动机构设计

尚建忠;罗自荣;张新访;范大鹏   

  1. 国防科技大学机电工程与自动化学院;华中科技大学机械科学与工程学院
  • 发布日期:2007-12-15

DESIGN OF SPACE-EXPLORING ROBOTS LOCOMOTION MECHANISM BASED ON MECHANISM OMBINATION

SHANG Jianzhong;LUO Zirong;ZHANG Xinfang;FAN Dapeng   

  1. School of Mechatronics Engineering and Automation, National University of Defense Technology College of Mechanical Science and Engineering, Huazhong University of Science and Technology
  • Published:2007-12-15

摘要: 提出基于构型组合和构型创新的空间探测机器人移动机构设计方法。该方法将轮式空间探测机器人视为由轮系、悬架和车体三类子构型组合而成的多体系统。提出同构组合和异构组合两类设计模式,将空间探测机器人移动机构的创新设计归结为子构型获取和子构型组合,并对两类设计模式进行理论分析,建立计算模型。分析国内外经典空间探测机器人移动机构构型,设计两种轮系构型和两种悬架构型,通过构型提取和构型创新得到4种轮系构型、5种悬架构型和5种车体构型。以四轮、六轮和八轮空间探测机器人为研究对象,采用基于构型组合的设计方法,通过同构组合得到70种新型同构组合空间探测机器人移动机构,通过异构组合得到165种新型异构组合空间探测机器人移动机构。

关键词: 构型组合, 机器人移动机构, 空间探测机器人, 设计方法

Abstract: A method for space-exploring robots innovation design based on the mechanism combination is presented. According to the method, the wheeled space-exploring robot can be seen as a multi-body system composed of the wheel mechanism, suspension mechanism and body mechanism. Therefore the problem of space-exploring robot creative design can be solved with mechanism obtaining and mechanism combination, and two kinds of innovative design mode, isomorphic combination mode and isomerous combination mode, are proposed. A mathematic model is also presented through theory analysis. By analyzing the mechanism of domestic and foreign classic space-exploring robots and mechanism innovation, 4 kinds of wheel mechanism, 5 kinds of suspension mechanism and 5 kinds of body mechanism are abstracted. Using the innovative design method based on mechanism combination, taken four-wheeled, six-wheeled and eight-wheeled space-exploring robot as research object, as many as 70 new kinds of isomorphic combination locomotion platforms by isomorphic combination and 165 new kinds of isomerous combination locomotion platforms by isomerous combination are got.

Key words: Robot locomotion mechanism, Design method, Mechanism combination, Space exploring robot

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