转臂式八轮移动月球机器人设计与分析

Design and Analysis on the Rotational Arm Eight Wheels Mobile Lunar Robot

本文针对复杂月球的表面提出了一种新型转臂式八轮移动月球机器人设计方案 ,(简称 :RAEWMLR) ,独特的机构设计提高了它跨壕沟 ,爬台阶和转向能力。本文还对这种月球机器人进行了转向性能分析 ,稳定性分析 ,运动重构分析。

In this paper, a new robot named the Rotational Arm Eight Wheels Mobile Lunar Robot has been developed for rough terrain in the Lunar. Its abilities to stride moat, climb step and turn were enhanced with its special mechanical design。 Analysis on turning performance, stability and kinematic reconfigurability was presented in this paper.