| 引用本文: | 尚建忠,张新访,罗自荣,等.主动自适应悬架机器人概念样机及其配置模型和方法.[J].国防科技大学学报,2006,28(2):93-96 ,101.[点击复制] |
| SHANG Jianzhong,ZHANG Xinfang,LUO Zirong,et al.A Conceptual Rover with Active Self-adaptive Suspension and Its Configuration Model & Means[J].Journal of National University of Defense Technology,2006,28(2):93-96 ,101[点击复制] |
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| 主动自适应悬架机器人概念样机及其配置模型和方法 |
| 尚建忠1,2, 张新访1, 罗自荣2, 宋春霞2 |
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(1.华中科技大学 机械科学与工程学院，湖北 武汉 430074;2.国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 未来的空间探测要求机器人系统具备高可靠性、高移动性，以胜任未知非结构的地理环境。结合自适应悬架机器人和主动悬架机器人的优点，创新提出主动自适应悬架机器人的概念。它是一类具有主动配置功能的自适应悬架机器人，在一般复杂地形环境下，利用移动机构的超静定特性自适应地形，在极端复杂环境下，主动调整悬架结构等移动机构的运动配置适应地形变化，获取最佳移动性能。设计了一种六轮主动自适应悬架样机，可实现折叠、翻到后起身，建立了机器人移动性能综合评价模型，并给出了相应的配置模型和主动配置方法，通过主动配置可明显提高主动自适应悬架机器人的移动性能。 |
| 关键词: 空间控测 机器人 主动配置 自适应 悬架 |
| DOI： |
| 投稿日期：2005-12-12 |
| 基金项目:国家自然科学基金重点项目(602346030) |
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| A Conceptual Rover with Active Self-adaptive Suspension and Its Configuration Model & Means |
| SHANG Jianzhong1,2, ZHANG Xinfang1, LUO Zirong2, SONG Chunxia2 |
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(1.College of Mechanical Science and Engineering, Huazhong Univ. of Science and Technology, Wuhan 430074, China;2.College of Mechatronics Engineering and Automation,National Univ. of Defense Technology, Changsha 410073, China)
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| Abstract: |
| The space rover shoulder is expected to have higher mobility and reliability to satisfy future space exploration mission in unknown irregular environment. Through the combination of the advantages of both the self-adaptive and active rovers, the concept of active self-adaptive suspension rover, a type of self-adaptive suspension rovers, which can reconfigure themselves according to terrain, is creatively ggproposed. In even terrain, the active self-adaptive suspension rover just works like self-adaptive suspension rovers, while in rough terrain, it can reconfigure its structure to fit terrain and promote mobility. To verify the idea, a six wheeled active self-adaptive suspension based concept rover, which can fold and stand up if it is upset, was constructed. Based on an integrated model of mobility for space rover, the configuration model and the active way to reconfigure were also proposed. It is revealed from the study that the active configuration makes the active self-adaptive suspension rover own better mobility and reliability, which enable the active self-adaptive suspension rover to fit unknown irregular environment better. |
| Keywords: space rover robot active reconfiguration self adaptive suspension |
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