摘要
介绍机器人构型组合概念,提出轮腿式月球车的构型组合设计方法。将轮腿式月球车移动机构抽象为轮腿、悬架和车体3类子构型,建立了月球车同构和异构组合设计可选构型方案的计算模型。以基于二级半转机构原理的轮腿式月球车为研究对象,对其移动机构进行了子构型分析,提出了4种轮腿子构型、4种悬架子构型和5种车体子构型。以四轮腿和六轮腿月球车为例,采用同构组合和异构组合设计方法,共得到206种轮腿式月球车移动机构设计方案。
By introducing the concept of robot configuration combination, a configuration combination design method of the wheel-legged lunar rover is proposed.Through dividing the mobile mechanism of the wheel-legged lunar rover into three sub-configurations： wheel-leg,suspension and bodywork,the computation model of optional configuration schemes for isomorphism combination and isomerism combination design of the wheel-legged lunar rover was established.By taking the wheel-legged lunar rover with double-half-revolution mechanism as the research object,and based on configuration analysis of its mobile mechanism, 4 kinds of wheel-leg sub-configurations,4 kinds of suspension sub-configurations and 5 kinds of bodywork sub-configurations were proposed.Taking four wheel-legged and six wheel-legged lunar rovers as examples,206 kinds of mobile mechanism design schemes of the wheel-legged lunar rovers are obtained by using the isomorphism combination and isomerism combination design method.
出处
《机械设计》
CSCD
北大核心
2011年第1期37-41,共5页
Journal of Machine Design
基金
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)
关键词
轮腿式月球车
移动机构
构型设计
同构组合
异构组合
wheel-legged lunar rover
mobile mechanism
configuration design
isomorphism combination
isomerism combination
