月球攀爬钻取作业三足探测器  

Tripod Rover for Lunar Climbing and Drilling Operation

作　　者：赵川 马丽娜·马木提 李辉[1] 黄销 王新科 吴轶 茆寿允 蒋志宏 ZHAO Chuan;MALINA Mamuti;LI Hui;HUANG Xiao;WANG Xinke;WU Yi;MAO Shouyun;JIANG Zhihong(School of Mechatronics,Beijing Institute of Technology,Beijing 100081,China;Beijing Automotive Research Institute Co.,Ltd.,Beijing 100141,China;China Weaponry and Equipment Group Automation Research Institute Co.,Ltd.,Mianyang 621000,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]北京汽车研究总院有限公司,北京100141 [3]中国兵器装备集团自动化研究所有限公司,绵阳621000

出　　处：《载人航天》2025年第2期261-269,共9页Manned Spaceflight

基　　金：国家自然科学基金项目(62273049、U22B2079、62103054);北京市自然科学基金项目(4232054、L243011、4242050);人因工程国家重点实验室基金项目(HFNKL2023WW06)。

摘　　要：为探索月球熔岩洞或陨坑中水冰物质,月面探测器需要具有攀爬与钻取能力来实现大坡度坑洞的通过性,以提升钻取过程的抗冲击性。提出了一种具有攀爬-钻取-轮式行驶3种作业模式的月球攀爬钻取作业三足探测器。采用欠驱动八连杆变换机构与钻轮构成的可重构轮腿机构,实现3种作业模式切换,同时增强攀爬-钻取过程中月面附着力。通过将深层钻取设备、抓取-挖掘-观测融合机械臂和可更换样品收纳箱融合为样品采集系统,实现样品分类采集、存储与容器更换。基于轮腿机构的运动学与力学分析,验证了探测器攀爬与钻取作业的可行性。To explore the water ice substances in lunar lava tubes or craters,lunar surface detectors need to have good climbing and drilling capabilities to ensure the passability in steep-slope craters and improve the impact resistance during the drilling process.A lunar climbing and drilling tripod detector with three operating modes of climbing-drilling-wheel driving was proposed.The reconfigurable wheel-leg mechanism composed of an underactuated eight-link transformation mechanism and a drill wheel could realize the switching of three operating modes and enhance the lunar surface adhesion during the climbing and drilling processes.The deep drilling equipment,the grasping-diggingobserving integrated robotic arm,and the replaceable sample storage box were integrated into a sample collection system,which could realize classified sample collection,storage,and container replacement.The feasibility of the detector′s climbing and drilling operations was verified by kinematic and mechanical analysis of the wheel-leg mechanism.

关 键 词：月球探测 攀爬 可重构 欠驱动 连杆机构 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]