【摘要】 研究了具蠕动功能的星球车移动系统。根据土壤力学特性和轮壤作用原理,对三种常用步态方案运动参数对轮壤作用的影响进行了分析,优化运动模式,提出了两种步态修正方案,以改善车轮受力方式,提高运动效率。试验结果验证了修正方案可有效提高星球车在松软路面蠕动行进效率。更多还原

【Abstract】 The locomotion system of a planetary rover with creeping function was studied in this paper.According to the soil mechanics characteristics and reciprocity principle between soil and wheels,the effect law of kinematic parameters to reciprocity between soil and wheels of the three normal gait schemes was analyzed.The locomotion modes were optimized and the two kinds of gait correction schemes were presented in order to improve wheel force modes.The experiment results showed that the new gait schemes could greatly enhance the locomotion efficiency while travelling on the soft road.更多还原