| 二级半转轮腿机构月球探测车及其移动性能分析 | |
| Alternative Title | Wheel-legged lunar exploration rover with double-half-revolution mechanism and its mobility analysis |
| 汪永明; 岑豫皖; 余晓流; 汤文成 | |
| Department | 机器人学研究室 |
| Source Publication | 机械设计
 |
| ISSN | 1001-2354 |
| 2010 | |
| Volume | 27Issue:5Pages:59-62 |
| Indexed By | CSCD |
| CSCD ID | CSCD:3930653 |
| Contribution Rank | 3 |
| Funding Organization | 教育部高校科技创新工程重大项目培育资金资助项目(708054); 机器人学国家重点实验室开放课题资助项目(RLO200816); 安徽省高校自然科学基金重点资助项目(KJ2009A015Z); 江苏省科技攻关资助项目(BE2007012) |
| Keyword | 月球探测车 二级半转机构 轮腿 移动性能 分析 |
| Abstract | 根据半转机构原理,设计了一种新型的轮腿式月球探测车,其移动机构由车体支架、4个结构相同的轮腿及转向支架3部分构成。轮腿采用二级半转机构,由电机独立驱动和转向,通过2个串联的行星轮系来传递驱动力矩。并从路面适应性、转向灵活性、车身起伏度、地面几何通过性、抗侧倾能力和垂直越障能力等方面分析了该月球探测车的移动性能。分析表明,该探测车适合在高低起伏的月球表面环境行走。 |
| Other Abstract | Based on the principle of the half-revolution mechanism, a new-style wheel-legged lunar exploration rover was proposed in the paper. Its mobile mechanism is comprised of rover body bracket, four identical wheel-legged components and steering brackets. The wheel-legs adopt a double-half-revolution mechanism, it is independently driven and steered by a motor, and the moments are transmitted by means of two tandem planetary gear trains. Its mobility was analyzed from aspects as the adaptability of road surface... |
| Language | 中文 |
| Citation statistics |
Cited Times:1[CSCD]
[CSCD Record]
|
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/7170 |
| Collection | 机器人学研究室 |
| Corresponding Author | 汪永明 |
| Affiliation | 1.东南大学机械工程学院，江苏 南京 211189 2.安徽工业大学机械工程学院，安徽 马鞍山 243002 3.机器人学国家重点实验室，辽宁 沈阳 110016 |
| Recommended Citation GB/T 7714 | 汪永明,岑豫皖,余晓流,等. 二级半转轮腿机构月球探测车及其移动性能分析[J]. 机械设计,2010,27(5):59-62. |
| APA | 汪永明,岑豫皖,余晓流,&汤文成.(2010).二级半转轮腿机构月球探测车及其移动性能分析.机械设计,27(5),59-62. |
| MLA | 汪永明,et al."二级半转轮腿机构月球探测车及其移动性能分析".机械设计 27.5(2010):59-62. |
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| ZWQK000736.pdf（489KB） | 开放获取 | CC BY-NC-SA | View Download | |||
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