火星车在松软地面上的蠕动步态研究

蠕动步态是解决火星车在火星松软表面行走或爬坡困难时提高牵引力的有效方法,合理设置蠕动步态对充分发挥火星车在松软地表上的移动性能至关重要。文章将Bekker等人的轮地力学理论用于整车蠕动步态的受力分析,通过建立火星车的运动学模型,分析关节的运动关系,得到蠕动步态的协调运动方案,并通过原理样机试验对该方案的作用效果进行验证,为主动悬架蠕动步态的轮速配合给出了合理的建议。

The inching locomotion of a Martian rover on loose soil

The soil on the Mars is loose, which can not stand a large traction force of the Martian rovers. The inching locomotion is an effective method for striding over sinkages and steep slopes on the loose Martian surface. Setting a reasonable inching locomotion to achieve the coordinate motion is a crucial problem to make the rover behave best. Based on the wheel-terrain mechanics theory, advanced by Bekker et al., the force of the whole rover inching locomotion is analyzed. By establishing the kinematics model of the rover and analyzing the coordinate motion between joints, a coordinate motion scheme is advanced. The scheme is verified by the prototype rover test. Some suggestions are made for the coordinate motion of the inching locomotion.