Motion performance analysis of Rabbit rover with retractable-claw wheels
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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.
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Key words:
- retractable-claw /
- rover /
- robot /
- climbing obstacles
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