祝融号火星车主动悬架式移动系统设计与验证

Design and verification of the active suspension mobility system of the Zhurong Mars rover

设计了世界上第一个和唯一一个地外天体成功在轨应用的主动悬架移动系统,成功应用于祝融号火星车,通过主动悬架系统火星车可实现蠕动式轮步行走、车体水平升降、抬轮行走等功能,解决了被动悬架式星球车移动系统在松软地形下脱陷能力差、爬坡角度低和无故障车轮隔离能力、车体易托底等问题,验证结果表明:通过蠕动行走,可在16 min内迅速脱离6轮全部沉陷300 mm的极限情况;通过蠕动、多车辄爬坡策略,火星车松软地形爬坡能力由传统的20°提升到25°;将故障车轮抬起行走相比拖动行走功耗减小50%以上.

This work describes the design and development of the active suspension mobility system of the Zhurong Mars rover.The suspension system achieves the functions of peristaltic movement,body lifting,wheel lifting,and omnidirectional movement;and solves the problems of a passive suspension mobility system,such as poor collapse ability in soft terrain,low climbing angle,and fault-free wheel isolation ability.The verification results show that,through peristaltic motion,the rover can quickly break free from up to300 mm settlement of all 6 wheels in 16 min.Moreover,through peristaltic movement and the multi rut climbing strategy,the climbing ability of the rover on soft terrain is improved from a slope of 20°to one of 25°.Compared with dragging,the power consumption is reduced by more than 50%.It is the first active suspension mobility system to land on an alien planet.