一种可跳跃的月面移动机器人系统设计

Design of a Lunar Mobile Robot with Jumping Ability

月球是人类开展深空探测活动的重要场所,月球表面的探测工程已日益成为全球关注的项目。而月面移动机器人是探测工程的基础,是实现月球探测目标不可缺少的重要环节。由于月面地形复杂,分布着大量陨石坑和块状月岩,对月面机器人的移动能力提出了更高要求。提出了具有跳跃能力的月面移动机器人,可灵活自适应月球地形变化。该机器人采用常规行走、变形后行走及气动跳跃相结合的方式,实现在月球表面移动和越障的功能。在平地等规整地形移动时,运动方式与轮式机器人一致,运动效率高;在非规整地形时,它以异形轮的形态工作,可以跨越较为低矮的障碍;在遇到较大障碍物时,运用跳跃系统越过障碍,越障能力强,可为月面巡视探测任务的实施提供技术参考。

The Moon is an important destination for humans to carry out deep space exploration activities.The lunar surface exploration project has increasingly become a global concern.The lunar mobile robot is the foundation of the exploration project and an indispensable part of achieving the goal of lunar exploration.The complex terrain and a large number of craters and massive lunar rocks which put forward higher requirements for the lunar robot’s mobile ability.The lunar surface mobile robot with jumping ability can flexibly adapt to the change of lunar terrain.The robot combines conventional walking,post-deformation walking and pneumatic jumping to achieve the function of moving on the lunar surface and crossing obstacles.When the robot is moving on the regular terrain,the movement mode is consistent with the wheeled robot and the movement efficiency is high;when moving on irregular terrain,it works in the form of irregular wheels which can overcome relatively low obstacles;when encountering large obstacles,the jumping system is used to get over the obstacles with strong ability.The research of the mobile robot can provide a technical reference for the implementation of the lunar patrol and exploration missions.