强动力型月球车行走系统主动仿形机构创新设计与研究.docVIP

强动力型月球车行走系统主动仿形机构创新设计与研究 　　摘要 打破传统月球车的设计模式,针对月球表面复杂的环境研发八轮独立驱动系统、八轮独立转向系统、八轮臂独立垂直升降系统、八轮臂独立跨越系统、多功能机械臂及“双子星”车体结构,通过计算机远程无线监测与控制,实现月球车的主动仿形运动功能,从而解决此前难以克服的种种难题,使强动力型月球车具备强大的驱动力,优越的爬坡及越障性能,大大提高该车在恶劣月面环境条件下的适应能力,从而能高效率地完成各种月面探索任务。 　　关键词 月球车;主动仿形;创新设计 　　中图分类号:TP391.7 文献标识码:B 文章编号:1671-489X(2009)24-0092-02 　　Innovation Design and Research on Stepped System Initiative Following Organization of Powerful Lunar Motor//Li Jianting , Liu Wanqiang, Zhang Haiying, Liu Hongjun, Bai Yang 　　Abstract As to the complex environment of the Lunar surface, in this paper, the eight independent R D-driven system, eight-wheel independent steering system, eight-arm independent of vertical take-off and landing system, eight-arm steering system independent, multi-function machine arm and “Gemini” body structure have been adopted, which broken the traditional design model. In order to carry out the lunar motor function of profiling initiative, long distance wireless monitor and control have been achieved by using computer. In addition to, the various problems which insurmountability have been solved in this paper. The motor has many advantages, for example powerful driving force, superior climbing and jumping performances, which improve the adaptability of the motor in the poor lunar environment. Consequently, the various of exploring activities will be fulfilled with high efficiency. 　　Key words Lunar motor; initiative following organization; innovation design 　　Author’s address 　　1 College of Vehicle and Energy Engineering, Luoyang, Henan, 471003, China 　　2 Electromechanical Engineering College of Science Technology, Henan University of Science and 　　Technology, Luoyang, Henan, 471003, China 　　 　　21世纪是人类全面探测太阳系并为人类社会可持续发展服务的新时代,目前各国相继开始增强空间技术的投资力度,积极发展本国空间技术,努力争取在不久的未来在外太空占有自己的一席之地。 　　随着经济的快速发展,我国已经有能力扩展深空探索。我国的嫦娥工程已经启动,2012年,“嫦娥工程”将实现“落地”,月球车作为一种登陆月球和探测月球的工具将发挥重要作用。月球是一个无风、无水、无声响、无生命、冷热剧变的荒凉的世界。月球表面崎岖不平,有石块、陨石坑、高地。月球车在某种意义上属于机器人技术,无论是轮式的还是腿式的,都应具有前进、后退、转弯、爬坡、取物、采样和翻转等基本功能,甚至具