【作者】 田海波； 方宗德； 寇发荣；

【Author】 TIAN Hai-bo FANG Zong-de KOU Fa-rong (School of Mechatronic Engineering,Northwestern Polytechnical University,Xi’an 710072)

【机构】 西北工业大学机电学院；

【摘要】 月球探测是当前我国航天领域的一个重要课题。微型探测机器人是探测月球表面的重要工具。月球的环境非常复杂,机器人的结构直接关系到探测任务的成败。该文在分析总结国內外研究成果的基础上,探索性地设计了一种新型探测车。该车有分体式车身、主副连杆机构、电动车轮、六轮驱动和转向等特征,具有自适应能力强、机动灵活的优点。为了获得结构合理、性能优越的结构参数,该文对小车整体进行了准静态分析,并给出了算例。准静态分析的结果可以作为结构优化的依据,也可为驱动电机和控制器的设计提供参考。更多还原

【Abstract】 Now moon exploration has been a very important task to our astronautic field. Micro-robot is the most useful tool for exploring the planetary surface. The environment is very complex, so robot’s structure affect whether the exploring work would success or not. In this article, based on summarizing the research status of micro-rover at home and abroad, the author try to study a new type rover with separated body, main-auxiliary connecting rod and six-wheel driving and steering mechanism, which is of strong adaptive capability and flexibility. To obtain reasonable and excellent frame parameter, quasi-static analysis to the whole rover is researched and a example is presented. The result may be the base for optimizing frame parameter and designing motors or controllers..更多还原