星球车松软星壤的轮腿式探测系统:Ⅱ-感知车轮  

A Planetary Robotic Wheel-Limb System to Characterize Wheel-Terrain Interactions:PartⅡ-Design Implementation of Instrumented Wheel

作　　者：冯李航[1,2] 蒋旭 缪天缘 汪穗 贾子扬 宋爱国 FENG Lihang;JIANG Xu;MIAO Tianyuan;WANG Sui;JIA Ziyang;SONG Aiguo(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China;College of Electrical Engineering and Control Science,Nanjing Tech University,Nanjing 211816,China)

机构地区：[1]东南大学仪器科学与工程学院,江苏南京210096 [2]南京工业大学电气工程与控制科学学院,江苏南京211816

出　　处：《测控技术》2023年第4期28-34,41,共8页Measurement & Control Technology

基　　金：国家自然科学基金(62103184);中国博士后科学基金(2021M690630)。

摘　　要：为增强星球车松软星壤的穿越通过能力,提出了轮壤交互接触信息的感知车轮设计。该车轮是一种星球车的前置轮腿式探测系统(WOLS)的关键部分,可实现动态轮壤交互的关键量测量(轮壤作用力/力矩、轮壤接触角和车轮沉陷量)。研究分析了轮壤力学的关键测量参量及其分组,完成了感知车轮的硬件设计和集成,提出了待测参数的在线测量模型和方法,通过标定校准和实车测试验证了该感知车轮的性能。In order to improve the maneuverability and traversability of the planetary rover on the surface of a soft soil,the design and implementation of an instrumented wheel(IW)for haptic terrain sensing of the wheel-terrain interactions is presented.The IW is a key part of the wheel on limb system(WOLS)of a planetary vehicle,which can measure the key quantities of dynamic wheel soil interaction(wheel-terrain forces,wheel velocity,and wheel contact angle,as well as the wheel sinkage).The IW development is the key part of our WLOS that aims for the potential in-situ sensing and estimating the terrain traversability before the traversal of the robotic vehicle.Experimental tests including the IW calibration and field tests are conducted.Results demonstrate that the designed IW is capable of sensing the haptic terrain information and recognizing the subsurface dangers such as collapse and collision.

关 键 词：地面通过性 轮壤交互作用 感知车轮 力触觉地面感知 轮腿式探测系统 

分 类 号：V423.6[航空宇航科学与技术—飞行器设计]