| 火星车双向抽展式转移坡道展开原理及特性分析 |
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| 作者姓名： | 马超 刘卫 满剑锋 刘飞 潘秋月 陈明 姜生元 |
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| 作者单位： | 哈尔滨工业大学 机器人技术与系统国家重点实验室, 哈尔滨 150080,北京空间飞行器总体设计部, 北京 100094,北京空间飞行器总体设计部, 北京 100094,哈尔滨工业大学 机器人技术与系统国家重点实验室, 哈尔滨 150080,哈尔滨工业大学 机器人技术与系统国家重点实验室, 哈尔滨 150080,哈尔滨工业大学 机器人技术与系统国家重点实验室, 哈尔滨 150080,哈尔滨工业大学 机器人技术与系统国家重点实验室, 哈尔滨 150080 |
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| 基金项目： | 国家自然科学基金资助项目（51575122） |
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| 摘 要： | 我国首次火星探测任务将于2020年实施,一步实现"绕""着""巡"的目标。着陆器在火星表面软着陆后,火星车能否沿转移坡道安全转移至火星表面,关系着本次任务的成败。从火星车转移坡道功能要求出发,提出了一种双向抽展式转移坡道方案,解决了大展出比、驱动共用、可靠展开等关键问题,对其展开原理及力学特性进行分析,并开展了模拟火星重力环境的展开试验,为我国火星车转移坡道设计提供参考。
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| 关 键 词： | 双向抽展 转移坡道 展开特性 |
| 收稿时间： | 2018/12/25 0:00:00 |
| 修稿时间： | 2019/3/1 0:00:00 |
Principle and Characteristics Analysis of Two-Way Scaling Transfer Slope of Mars Rover |
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| Authors: | MA Chao LIU Wei MAN Jianfeng LIU Fei PAN Qiuyue CHEN Ming and JIANG Shengyuan |
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| Institution: | State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China,Beijing Institute of Spacecarft System Engineering, Beijing 100094, China,Beijing Institute of Spacecarft System Engineering, Beijing 100094, China,State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China,State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China,State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China and State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China |
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| Abstract: | China''s first scheduled Mars exploration mission will be implemented in 2020,achieving the goal of surrounding, landing,and patrolling in one step. Among them,after the lander softly landing on the surface of Mars,whether the rover can be safely transferred to the surface of Mars along the transfer ramp is the key to the mission success. Based on the functional requirements of the rover''s transfer ramp. In this paper, a two-way pumping ramp scheme is proposed,which solves the key problems of large exhibition ratio, drive sharing and reliable deployment, and its unfolding principle and mechanical characteristics are analyzed. The unfolding test in the simulated martian gravity environment is carried out to provide reference for the design of the Mars transfer ramp in China. |
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| Keywords: | two-way pumping transfer ramp expansion characteristics |
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