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Configuration Synthesis and Performance Evaluation Metrics of Lunar Rover Locomotion Systems

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【作者】 邓宗全； 张朋； 高海波； 胡明；

【Author】 DENG Zongquan,ZHANG Peng,GAO Haibo,HU Ming(State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150080,China;Research Center of Aerospace Mechanism and Control,Harbin Institute of Technology,Harbin 150001,China)

【机构】 State Key Laboratory of Robotics and Systems,Harbin Institute of Technology； Research Center of Aerospace Mechanism and Control,Harbin Institute of Technology；

【摘要】 A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers(LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were analyzed.Performance evaluation and comparison between two LER with locomotion systems of different configurations were analyzed.The analysis results indicate that the new locomotion system configuration has good trafficability performance.

【Abstract】 A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers(LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were analyzed.Performance evaluation and comparison between two LER with locomotion systems of different configurations were analyzed.The analysis results indicate that the new locomotion system configuration has good trafficability performance.

【关键词】 configuration synthesis； evaluation metrics； locomotion system； lunar rover；
【Key words】 configuration synthesis； evaluation metrics； locomotion system； lunar rover；
【基金】 Supported by National “863” High-Tech Program (No.2006AA04Z231);Foundation of State Key Laboratory of Robotics and Systems (No.SKLRS-200801A02);the College Discipline Innovation Wisdom Plan (No.B07018);Natural Science Foundation of Heilongjiang Province (No.ZJG0709)
  • 【文献出处】 Transactions of Tianjin University ,天津大学学报(英文版) , 编辑部邮箱 ,2009年03期
  • 【分类号】V476;TP242
  • 【被引频次】2
  • 【下载频次】114
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