| 月球探测车移动系统的关键技术分析 |
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| 引用本文： | 胡明,邓宗全,王少纯,高海波.月球探测车移动系统的关键技术分析[J].哈尔滨建筑大学学报,2003(7). |
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| 作者姓名： | 胡明 邓宗全 王少纯 高海波 |
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| 作者单位： | 哈尔滨工业大学机电工程学院，哈尔滨工业大学机电工程学院，哈尔滨工业大学机电工程学院，哈尔滨工业大学机电工程学院 黑龙江 哈尔滨 150001，黑龙江 哈尔滨 150001，黑龙江 哈尔滨 150001，黑龙江 哈尔滨 150001 |
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| 基金项目： | 哈尔滨工业大学跨学科交叉性研究基金资助项目(HIT.MD2000.12). |
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| 摘 要： | 为研究月球探测车移动系统,基于月球的复杂环境特征,确定月球探测车移动系统应具备的主要功能.在对以往的腿式、轮式和履带式等各类型移动系统结构特点综合分析的基础上,确定六轮摇臂-转向架式移动系统的设计方案,该系统具有性能优越、自适应能力强等特点.通过深入研究该系统的具体结构,得到其主要的技术性能参数.并对其轮系结构、转向机构、能源系统的特点及所涉及的关键技术进行深入探讨.
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| 关 键 词： | 月球探测车 轮式移动系统 摇臂-转向架机构 移动机器人 |
Key technologies for lunar rover locomotive system |
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| HU Ming DENG Zong-quan WANG Shao-chun GAO Hai-bo.Key technologies for lunar rover locomotive system[J].Journal of Harbin University of Civil Engineering and Architecture,2003(7). |
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| Authors: | HU Ming DENG Zong-quan WANG Shao-chun GAO Hai-bo |
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| Abstract: | For the purpose of studying the lunar rover locomotive system,the main functions of the lunar rover locomotive system based on the analysis of the features of complex lunar environment,are discussed by analy- zing the characteristics of some kinds of the locomotion,include legged,wheeled and tracked modes,a 6- wheeled rocker-bogie mode locomotive system is designed to provide good performance and strong self-adap- ting characteristic.By studying the fundamental configuration of the locomotive system,its main specifications are established.The key technologies related to the structure of the wheel train,the steering mechanism and the power system on the 6-wheeled rocker-bogie mode locomotive system are discussed in depth. |
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| Keywords: | lunar rover wheeled locomotive system rocker-bogie mechanism mobile robot |
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