【摘要】 提出并设计了一种新型的轮腿式探测车,该探测车可以通过冗余关节的重构来实现探测车的变形,可采用轮腿相结合的策略来完成不同路面状况下的行走任务,并且可以通过重构变形来达到车身宽窄变换以及整车高低变换以适应不同的探测环境。文中讨论了轮式和腿式两种故障情况下的容错策略,推导了相关的重构算法,在ADAMS平台中建立了虚拟样机并进行仿真试验。更多还原

【Abstract】 A new wheel-leg type rover is proposed and designed in this paper.This rover can change its structure by reconfigring its redundancy joints,and it can also move with wheel-mode as well as leg-mode under different road conditions.By changing configuration,the body of the rover can transform in both width and height direction in order to adapt different environment.The fault-tolerant strategies for wheel-mode and leg-mode of the rover are discussed,and related reconfiguration algorithms are deduced.The virtual prototype is built in ADAMS desktop,and simulation experiments are carried out.更多还原