管道形轮腿式月球探测机器人

PIPELINE-SHAPED WHEEL-LEGGED LUNAR EXPLORATION ROBOT

提出了一种由两个机器人单元组成的管道形、轮腿式月球探测机器人（PWLER）。每个机器人单元由管道连接而成的机体、圆柱形太阳能电池板、6条可独立运动的轮腿和1个探测球组成。机器人单元之间通过1根连接轴和3个相互平行的伸缩部件相连。每个伸缩部件由绳子、普通螺旋弹簧和电动机组成。PWLER在结构上的最大特点是采用轮腿和管道结构。PWLER有很多独特的性能,例如:能越过宽度为前、后轮之间距离1/3 的壕沟和高度为1/3腿长的台阶;爬坡时能保持机体处于水平状态;通过增加管道,可很容易地进行容积和探测功能的扩展;倾翻对PWLER的行驶没有影响。PWLER倾翻的仿真试验表明PWLER具有良好的倾翻稳定性。

A new type of pipeline-shaped wheel-legged lunar exploration robot (PWLER), which comprises of two robot parts, is presented. Each robot part is made up of a pipeline frame, a cylinder-shaped solar battery board, six wheeled legs moving independently, and one exploring sphere. Two robot parts are joined together by one joining shaft and three flexing parts parallel to each other. Each flexing part is made up of a rope, a common screw spring and a motor. The most prominent characteristics of PWLER is its wheeled leg and pipeline structure. PWLER has such particular performances as the abilities to get across an entrenchment with its width less than one third the distance between the front wheel and the rear wheel, to get across a step with its height less than one third the length of a wheeled leg, to keep the pipeline frame horizontal when PWLER is moving on a slope, to enlarge the robotic cubage and to extend the robotic exploration function easily by adding pipelines. Besides, tipover has no effect on PWLER's moving. The simulation experiment for PWLER's tipover indicates that PWLER has good tipover stability.