強動力型月球車行走系統主動仿形機構的創新設計與研究

李建廷 劉萬強 張海英 劉紅俊 白 楊

摘要 打破傳統月球車的設計模式,針對月球表面復雜的環境研發八輪獨立驅動系統、八輪獨立轉向系統、八輪臂獨立垂直升降系統、八輪臂獨立跨越系統、多功能機械臂及“雙子星”車體結構,通過計算機遠程無線監測與控制,實現月球車的主動仿形運動功能,從而解決此前難以克服的種種難題,使強動力型月球車具備強大的驅動力,優越的爬坡及越障性能,大大提高該車在惡劣月面環境條件下的適應能力,從而能高效率地完成各種月面探索任務。

關鍵詞 月球車;主動仿形;創新設計

中圖分類號:TP391.7 文獻標識碼:B 文章編號:1671-489X(2009)24-0092-02

Innovation Design and Research on Stepped System Initiative Following Organization of Powerful Lunar Motor//Li Jianting , Liu Wanqiang, Zhang Haiying, Liu Hongjun, Bai Yang

Abstract As to the complex environment of the Lunar surface, in this paper, the eight independent R & D-driven system, eight-wheel independent steering system, eight-arm independent of vertical take-off and landing system, eight-arm steering system independent, multi-function machine arm and “Gemini” body structure have been adopted, which broken the traditional design model. In order to carry out the lunar motor function of profiling initiative, long distance wireless monitor and control have been achieved by using computer. In addition to, the various problems which insurmountability have been solved in this paper. The motor has many advantages, for example powerful driving force, superior climbing and jumping performances, which improve the adaptability of the motor in the poor lunar environment. Consequently, the various of exploring activities will be fulfilled with high efficiency.

Key words Lunar motor; initiative following organization; innovation design

Authors address

1 College of Vehicle and Energy Engineering, Luoyang, Henan, 471003, China

2 Electromechanical Engineering College of Science & Technology, Henan University of Science and

Technology, Luoyang, Henan, 471003, China

21世紀是人類全面探測太陽系并為人類社會可持續發展服務的新時代,目前各國相繼開始增強空間技術的投資力度,積極發展本國空間技術,努力爭取在不久的未來在外太空占有自己的一席之地。

隨著經濟的快速發展,我國已經有能力擴展深空探索。我國的嫦娥工程已經啟動,2012年,“嫦娥工程”將實現“落地”,月球車作為一種登陸月球和探測月球的工具將發揮重要作用。月球是一個無風、無水、無聲響、無生命、冷熱劇變的荒涼的世界。月球表面崎嶇不平,有石塊、隕石坑、高地。月球車在某種意義上屬于機器人技術,無論是輪式的還是腿式的,都應具有前進、后退、轉彎、爬坡、取物、采樣和翻轉等基本功能,甚至具有初級人工智能,例如識別、爬越或繞過障礙物等。

據報道,我國已有部分科研院所及高校結合自身技術優勢研制出各自的月球車[1]。……