空间自动化技术研究室知识库

针对深空探测领域星球表面着陆巡视一体化的探测任务需求，全面而简要地回顾了国内外星球表面着陆巡视探测任务的发展历程，概述了在着陆过程中减速和缓冲减振方法及移动探测情况，指出了传统着陆巡视系统存在系统复杂、可靠性低、着陆缓冲装置的质量和体积占比高、着陆后姿态无法调整等局限，对比分析了着陆巡视一体化机器人的优势。在此基础上，分别综述了腿式移动机器人、风力驱动球形机器人、小型跳跃机器人和张拉整体机器人等具备着陆巡视一体化功能的机器人的研究进展；对各类机器人的性能特点进行了对比分析并给出了各自的适用范围；最后展望了未来星球表面着陆巡视一体化机器人的发展趋势，探讨了未来有待于进一步深入研究的难题及可能的解决途径。

Considering the requirements of integrated exploration tasks of landing and patrolling on the planet surface in the field of deep space exploration, this paper comprehensively reviews the history of these integrated tasks both in China and abroad, summarizing the methods of deceleration and buffering and the moving detection situations during the landing process, and further pointing out the limitations of traditional landing and moving systems such as complex configuration, low reliability, high proportions of the quality and volume of the landing buffer devices. The advantages of the integrated robots for landing inspections are then compared and analyzed. In addition, the research progress of legged mobile robots, wind driven spherical robots, small jumping robots and tensegrity robots with integrated landing and moving functions are reviewed respectively. The performance characteristics of all these robots are compared, their application scope given. Finally, the future development of integrated landing and moving robots for planet surface, the problems to be further studied and possible solutions are discussed.