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作 者:Renchao LU Haibo GAO Zhen LIU Runze YUAN Zongquan DENG
机构地区:[1]State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150001,China
出 处:《Frontiers of Mechanical Engineering》2024年第2期59-74,共16页机械工程前沿(英文版)
基 金:supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.51521003);the National Natural Science Foundation of China(Grant Nos.51975140,52005122);the“111”Project of China(Grant No.B07018);the Harbin Institute of Technology Key Project Research and Development Grant of China(Grant No.HIT2021005).
摘 要:The planned missions to explore the surfaces of the Moon and Mars require high exploration efficiency,thus imposing new demands on the mobility system of planetary rovers.In this paper,a design method for a high-speed planetary rover(HPR)is proposed,and the representative configurations are modeled and simulated.First,the influence of the planetary surface environment on the design of HPRs is analyzed,and the design factors for HPRs are determined by studying a single-wheel suspension.Second,a design methodology for HPRs is proposed.The adaptive suspension mechanisms of a four-wheeled rover are synthesized using the all-wheel-attachment condition and position and orientation characteristics theory,which are expressed in the form of a graph theory for the increase in elastic components and active joints.Finally,a dynamic model is built,and a simulation is carried out for the proposed rover.The validity of the proposed method and rover is verified,thus highlighting their potential application in future planetary exploration.
关 键 词:design methodology spectrum analysis HIGH-SPEED planetary rover type synthesis
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