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

Abstract

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

CLC Number:

TP 24

SHANG Jianzhong;LUO Zirong;ZHANG Xinfang;FAN Dapeng. DESIGN OF SPACE-EXPLORING ROBOTS LOCOMOTION MECHANISM BASED ON MECHANISM OMBINATION[J]. , 2007, 43(12): 178-183.

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

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