星表移动探测机器人研究现状综述

星表移动探测机器人是多学科、高新技术的结晶，用于非结构化环境中的星球表面探测，能有效减轻人类工作强度、保护人身安全以及代替人类完成恶劣环境下的科研探测工作，有着巨大的经济和社会效益。本文对已发射的探测器进行了统计，系统梳理了成功着陆月球、火星的探测机器人的技术参数、结构与机构组成等，综合对比了各国在星表移动探测机器人研制方面的技术状态。结合国内外的研究现状和成果，重点针对星表移动探测机器人移动系统的研究进行了梳理，将星表移动探测机器人从运动形式上划分为轮式、腿式、履带式及其他类型4种形式，对每类机器人的研究进展、技术参数、结构与机构形式、运动形态等进行了系统回顾和详细分析。结合星表移动探测机器人面临的探测任务及发展方向，对星表移动探测机器人未来发展趋势进行了展望。

Research status of planetary surface mobile exploration robots: Review

Planetary surface mobile exploration robots are multi-disciplinary, high-tech products, used in unstructured environments of planet surface exploration. These robots can effectively reduce the intensity of human work, protect human safety and replace humans to complete scientific research and exploration work in harsh environment with substantial economic and social benefits. This study conducts the statistics of the launched detectors, systematically sorting out the technical parameters, structure, and mechanism composition of the probe robots successfully landing on the moon and Mars. The technological status of space robots in different countries are compared comprehensively. Based on the present foreign and domestic research status and achievements, this paper focuses on the research of the mobile system of planetary surface mobile exploration robots. These robots have been divided into four structural types in terms of their motion forms, including wheeled, legged, tracked, and others. The research progress, technical parameters, structure and mechanism forms, and motion forms of each type of robots are reviewed systematically with successful cases of planetary surface mobile exploration robots. Finally, the future development trend of planetary surface mobile exploration robots is prospected based on their tasks and development directions.