北京航空航天大学学报 ›› 2013, Vol. 39 ›› Issue (3): 401-405.

• 论文 • 上一篇    下一篇

轮爪式探测车Rabbit的运动性能分析

岳荣刚1, 宋凌珺2, 王少萍3   

  1. 1. 中国空间技术研究院 载人航天总体部, 北京 100094;
    2. 北京航空航天大学 交通科学与工程学院, 北京 100191;
    3. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2012-02-28 出版日期:2013-03-31 发布日期:2013-04-03
  • 作者简介:岳荣刚(1980-),男,山东青州人,工程师,ronggangyue@yahoo.cn.
  • 基金资助:

    111计划资助项目;LIA资助项目

Motion performance analysis of Rabbit rover with retractable-claw wheels

Yue Ronggang1, Song Lingjun2, Wang Shaoping3   

  1. 1. Institute of Manned Space System Engineering, China Academy of Space Technology, Beijing 100094, China;
    2. School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    3. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2012-02-28 Online:2013-03-31 Published:2013-04-03

摘要: 为了提高机器人的越障能力,设计了一种新型探测车Rabbit,该车装有4个轮爪式车轮.介绍了轮爪式车轮的原理,以及Rabbit样机移动系统和控制系统的设计,并通过实验对其进行了运动性能分析.结果表明:Rabbit可以在各种地形中自如运动,如台阶路面、斜坡路面、多障碍路面和月球模拟土壤中等.Rabbit还可以越过高度为车轮半径1.4倍的台阶,并能越过斜度为40°的斜坡,性能优于普通圆形车轮.该轮爪式探测车适用于行星探测或野外探测.

Abstract: To improve the climbing obstacles capability of a robot, a rover prototype named as Rabbit whose motion is based on 4 retractable-claw wheels was designed. Principle of the wheel, mobile system and control system of Rabbit were presented respectively, and some experiments were finished to test its performance. The experimental results show that the Rabbit rover can move freely in various terrain conditions, such as step, slope, multiple-obstacle, and simulated lunar soil, etc. Experiment results demonstrate that the retractable-claw wheels enable the rover to traverse over steps whose height is 1.4 times of the wheel radius, over sloped terrains up to 40° tilt angle, which is much larger than conventional robots can do. The rover with retractable-claw wheels is proved to be suitable for planetary or field exploration.

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发