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轮爪式探测车Rabbit的运动性能分析

岳荣刚 宋凌珺 王少萍

岳荣刚, 宋凌珺, 王少萍等 . 轮爪式探测车Rabbit的运动性能分析[J]. 北京航空航天大学学报, 2013, 39(3): 401-405.
引用本文: 岳荣刚, 宋凌珺, 王少萍等 . 轮爪式探测车Rabbit的运动性能分析[J]. 北京航空航天大学学报, 2013, 39(3): 401-405.
Yue Ronggang, Song Lingjun, Wang Shaopinget al. Motion performance analysis of Rabbit rover with retractable-claw wheels[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(3): 401-405. (in Chinese)
Citation: Yue Ronggang, Song Lingjun, Wang Shaopinget al. Motion performance analysis of Rabbit rover with retractable-claw wheels[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(3): 401-405. (in Chinese)

轮爪式探测车Rabbit的运动性能分析

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

Motion performance analysis of Rabbit rover with retractable-claw wheels

  • 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.

     

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出版历程
  • 收稿日期:  2012-02-28
  • 网络出版日期:  2013-03-31

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