主动自适应悬架机器人概念样机及其配置模型和方法

未来的空间探测要求机器人系统具备高可靠性、高移动性,以胜任未知非结构的地理环境。结合自适应悬架机器人和主动悬架机器人的优点,创新提出主动自适应悬架机器人的概念。它是一类具有主动配置功能的自适应悬架机器人,在一般复杂地形环境下,利用移动机构的超静定特性自适应地形,在极端复杂环境下,主动调整悬架结构等移动机构的运动配置适应地形变化,获取最佳移动性能。设计了一种六轮主动自适应悬架样机,可实现折叠、翻到后起身,建立了机器人移动性能综合评价模型,并给出了相应的配置模型和主动配置方法,通过主动配置可明显提高主动自适应悬架机器人的移动性能。

A Conceptual Rover with Active Self-adaptive Suspension and Its Configuration Model & Means

The space rover shoulder is expected to have higher mobility and reliability to satisfy future space exploration mission in unknown irregular environment.Through the combination of the advantages of both the self-adaptive and active rovers,the concept of active self-adaptive suspension rover,a type of self-adaptive suspension rovers,which can reconfigure themselves according to terrain,is creatively ggproposed.In even terrain,the active self-adaptive suspension rover just works like self-adaptive suspension rovers,while in rough terrain,it can reconfigure its structure to fit terrain and promote mobility.To verify the idea,a six wheeled active self-adaptive suspension based concept rover,which can fold and stand up if it is upset,was constructed.Based on an integrated model of mobility for space rover,the configuration model and the active way to reconfigure were also proposed.It is revealed from the study that the active configuration makes the active self-adaptive suspension rover own better mobility and reliability,which enable the active self-adaptive suspension rover to fit unknown irregular environment better.