|
|||||
|
|
| 轮爪式探测车Rabbit的运动性能分析 | |
| 引用本文： | 岳荣刚,宋凌珺,王少萍.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. |
| 作者姓名： | 岳荣刚 宋凌珺 王少萍 |
| 作者单位： | 中国空间技术研究院载人航天总体部,北京,100094;北京航空航天大学交通科学与工程学院,北京,100191;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 |
| 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. |
| 关 键 词： | 轮爪 探测车 机器人 越障 |
| 收稿时间： | 2012-02-28 |
Motion performance analysis of Rabbit rover with retractable-claw wheels |
|
| Yue RonggangInstitute of Manned Space System Engineering,China Academy of Space Technology,Beijing,China Song LingjunSchool of Transportation Science and Engineering,Beijing University of Aeronautics and Astronautics,Beijing,China Wang Shaoping.Motion performance analysis of Rabbit rover with retractable-claw wheels[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(3):401-405. | |
| Authors: | Yue RonggangInstitute of Manned Space System Engineering China Academy of Space Technology Beijing China Song LingjunSchool of Transportation Science and Engineering Beijing University of Aeronautics and Astronautics Beijing China Wang Shaoping |
| Institution: | 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 |
| 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. |
| Keywords: | |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |
| 点击此处可从《北京航空航天大学学报》浏览原始摘要信息 | |
| 点击此处可从《北京航空航天大学学报》下载免费的PDF全文 | |