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二级半转轮腿机构月球探测车及其移动性能分析
Alternative TitleWheel-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
ISSN1001-2354
2010
Volume27Issue:5Pages:59-62
Indexed ByCSCD
CSCD IDCSCD:3930653
Contribution Rank3
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 AbstractBased 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
Identifierhttp://ir.sia.cn/handle/173321/7170
Collection机器人学研究室
Corresponding Author汪永明
Affiliation1.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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