摘要
建立了轮式星体探测机器人的抗倾覆性评价模型,对六轮摇臂星体探测机器人和双曲柄滑块探测机器人的抗倾覆性进行分析和比较,提出一种提高自适应悬架机器人移动性能的措施和方法,实现了一种可主动配置的六轮摇臂星体探测机器人。仿真结果表明,通过主动配置,机器人的行驶平顺性和抗倾覆性均得到明显提高,能更好地满足探月需求。
Taking six-wheeled Rocker-Bogie suspension robot and two-crank-slider suspension robot as research objects, the tipover stability evaluation model is created. Based on the model, the tipover stability of both kinds of robot is analyzed and compared, then the method to promote self-adaptive robot＇s mobility is proposed. A six-wheeled space exploration robot with active configuration function is proposed. The simulation result shows that through active configuration, the robot＇s driving placidity and anti-tipover stability improved obviously and can satisfy the lunar exploration mission better.
出处
《机械设计与研究》
CSCD
北大核心
2007年第1期40-43,共4页
Machine Design And Research
