轮爪式探测车Rabbit的运动性能分析

岳荣刚; 宋凌珺; 王少萍

轮爪式探测车Rabbit的运动性能分析

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

基金项目: 111计划资助项目;LIA资助项目

详细信息

作者简介:
岳荣刚(1980-),男,山东青州人,工程师,ronggangyue@yahoo.cn.

中图分类号: V476.3
计量
- 文章访问数: 1435
- HTML全文浏览量: 94
- PDF下载量: 583
- 被引次数: 0
出版历程
- 收稿日期: 2012-02-28
- 网络出版日期: 2013-03-31

Motion performance analysis of Rabbit rover with retractable-claw wheels

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

摘要

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.
- 轮爪 /
- 探测车 /
- 机器人 /
- 越障
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.
- retractable-claw /
- rover /
- robot /
- climbing obstacles

HTML全文

参考文献(1)

[1] 李翠兰,马培荪,高雪官,等.一种新型的可被动适应崎岖表面的六轮月球漫游车[J].传动技术,2005,19(1):9-13 Li Cuilan,Ma Peisun,Gao Xueguan,et al.A new six-wheel lunar robot for uneven surface[J].Drive System Technique,2005,19(1):9-13(in Chinese) [2] Salerno A,Ostrovskaya S,Angeles J.The development of quasiholonomic wheeled robots[C]// 2002 IEEE International Conference on Robotics and Automation.Washington,USA:IEEE,2002:3514-3520 [3] Bickler D.Roving over Mars[EB/OL].Mechanical engineering.http://www.memagazine.org/backissues/membersonly/april98/ features/mars/mars.html,1998 [4] Eisen H. Mechanical design of the mars pathfinder mission[C]// Kaldeich-Schürmann B H.Proceedings of the Conference on 7th European Space Mechanisms and Tribology Symposium.ESTEC,Noordwijk,the Netherlands:European Space Agency,1997:293-301 [5] Schenker P S,Huntsberger T L,Pirjanian P,et al.Planetary rover developments supporting mars exploration,sample return and future human-robotic colonization[J].Autonomous Robots,2003,14(2-3):103-126 [6] Lindemann R A,Bickler D B,Harrington B,et al.Mars exploration rover mobility development[J].Robotics & Automation Magazine,IEEE,2006,13(2):19-26 [7] Kubota T,Kuroda Y,Yasuharu K,et al.Small,light-weight rover "Micro5" for lunar exploration[J].Acta Astronautica,2003,52(2-6):434-439 [8] 刘方湖,陈建平,马培荪,等.行星探测车的研究现状和发展趋势[J].机器人,2002,24(3):268-275 Liu Fanghu,Chen Jianping,Ma Peisun,et al.Research status and development trend towards planetary exploration robots[J].Robot,2002,24(3):268-275(in Chinese) [9] Boxerbaum A S,Oro J,Peterson G,et al.The latest generation whegs robot features a passive-compliant body joint[C]// 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.Nice,France:IEEE,2008:1636-1641 [10] Saranli U,Buehler M,Koditschek D E.RHex:a simple and highly mobile hexapod robot[J].The International Journal of Robotics Research,2001,20(7):616-631 [11] Goldman D,Komsuoglu H,Koditschek D.March of the sandbots[J].IEEE Spectrum,2009:,46(4):30-35 [12] Tantichattanont P,Songschon S,Laksanacharoen S.Quasi-static analysis of a leg-wheel hybrid vehicle for enhancing stair climbing ability[C]// IEEE International Conference on Robotics and Biomimetics.Sanya,China:IEEE,2007:1601-1605 [13] Velimirovic A,Velimirovic M,Hugel V,et al.A new architecture of robot with "wheels-with-legs"(WWL)[C]// 5th International Workshop on Advanced Motion Control.Coimbra,Portugal:IEEE,1998:434-439 [14] Apostolopoulos D,Wagner M D,Leger C,et al.Experimental characterization of a robotic inflatable wheel[C]// 8th International Symposium on Artificial Intelligence,Robotics and Automation in Space.Munich,Germany:[s.n.],2005 [15] 邓宗全,高海波,胡明,等.行星越障轮式月球车的设计[J].哈尔滨工业大学学报,2003,35(2):204-213 Deng Zongquan,Gao Haibo,Hu Ming,et al.Design of lunar rover with planetary wheel for surmount obstacle[J].Journal of Harbin Institute of Technology,2003,35(2):204-213(in Chinese) [16] 邓宗全,高海波,王少纯,等.行星轮式月球车的越障能力分析[J].北京航空航天大学学报,2004,30(13):197-201 Deng Zongquan,Gao Haibo,Wang Shaochun,et al.Analysis of climbing obstacle capability of lunar rover with planetary wheel[J].Journal of Beijing University of Aeronautics and Astronautics,2004,30(13):197-201(in Chinese) [17] 孙鹏,高峰,李雯,等.深空探测车可变直径车轮牵引通过性分析[J].北京航空航天大学学报,2007,33(12):1404-1407 Sun Peng,Gao Feng,Li Wen,et al.Analysis of traction trafficability of diameter-variable wheel for planetary rover [J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(12):1404-1407(in Chinese) [18] 邱雪松,邓宗全,胡明.可展开式月球车车轮构型设计及构态变换分析[J].机械工程学报,2006,42(S1):148-151 Qiu Xuesong,Deng Zongquan,Hu Ming.Frame work design and configuration transformation analysis on deployed lunar rover wheel [J].Chinese Journal of Mechanical Engineering,2006,42(S1):148-151(in Chinese) [19] 岳荣刚,王少萍,焦宗夏,等.一种新型轮爪式车轮设计与性能仿真[J].北京航空航天大学学报,2007,33(12):1408-1411 Yue Ronggang,Wang Shaoping,Jiao Zongxia,et al.Design and performance simulation of a new type wheel with claws[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(12):1408-1411(in Chinese)

施引文献

资源附件(0)

访问统计