轮腿式行走系统研究综述
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摘要
轮腿式行走系统集中了腿式行走系统和轮式行走系统的优点,适合在复杂路面下以多种行进方式完成机动任务。本文对轮腿式行走系统进行了概括和分类,分析了几种典型行走系统性能的优缺点,指出了轮腿式行走系统的特点及其发展趋势。
Wheel-legged walking system focuses on advantages of wheeled and legged walking system, and is used on complex road to complete motor tasks in a variety of ways of moving. In the paper, wheel-legged walking system is summarized and classified, and the advantages and disadvantages of each typical wheel-legged walking system are analyzed, and features and trends of wheel-legged walking system are indicated.
Wheel-legged walking system focuses on advantages of wheeled and legged walking system, and is used on complex road to complete motor tasks in a variety of ways of moving. In the paper, wheel-legged walking system is summarized and classified, and the advantages and disadvantages of each typical wheel-legged walking system are analyzed, and features and trends of wheel-legged walking system are indicated.
引文
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[3]邓宗全,张朋,胡明,等.轮式行星探测车移动系统研究状况综述及发展态势[J].机械设计,2008,25(1):1-5.
[4]谭大伟.五轮可重构移动机器人构型设计及研究[D].哈尔滨:哈尔滨工程大学机电工程学院,2010.
[5]刘方湖,陈建平,马培荪,等.五轮月球机器人及其特性分析[J].机械设计,2001,5(5):15-18.
[6]Takashi Kuhota,Yoji Kuroda,Yasuharu Kunii,et al.Small light-weight rover“Micro5”for lunar ex ploration[J].Acta As-tronautica,2003,52:447-453.
[7]常勇,王洪光,马书根,等.月球车六轮摇臂转向架的优化设计[J].机械设计,2010,27(6):65-68.
[8]Matijevic J,Layman W,Sirota A,et al.Mars pathfinder mis-sion rover sojourner[EB/OL].Jet Propulsion Laboratory,http://mars.jpl.nasa.gov/MPF/mpf/rover.html.
[9]Lindemann R A,Voorhees C J.Mars exploration rover mobility assembly design,test and performance.Int.Conf.on Systems,Man and Cybernetics,2005(1):450-455.
[10]http://sh.xinmin.cn/shizheng/2008/04/24/1127233.htm1.
[11]李翠兰,马培荪,高雪官,等.一种新型的可被动适应崎岖表面的六轮月球漫游车[J].传动技术,2005,19(1):9-13.
[12]曹冲振,王凤芹,张吉亮,等.虾形六轮移动机器人尾部越障性能分析[J].机械设计与制造,2009,11:164-166.
[13]http://esamultimedia.esa.int/docs/industry/SME/Tech_success_optimised.pdf.
[14]汪新,杨栋,许昊,等.高机动越障机器人攀登机构的关键问题解析[J].中国科学技术大学学报,2005,35(4):506-511.
[15]Lee C G-Y,Daltolno J,Klinkner S,et al.On design and manufacture of a full size breadboard ExcMars rover chassis[C].In The9th ESA Workshop on Advanced Space Tech-nologies for Robotics and Automation(ASTRA2006),Noord-wijk,2006.
[16]Kucherenko V,Gromov V,Kazhukalo I,et al.Engineering support on rover locomotion for ExoMars rover phase A-"ESROL-A",Final report,Science&Technology Rover Co.Ltd.(RCL),2004:1-8.
[17]http://space.epfl.ch/webdav/site/space/shared/page_media/an-nual%20reports/Annual_report_2006_with_annexes.pdf
[18]Seeni A,Schafer B,Rebele B,et al.Robot Mobility Concepts for Extraterrestrial Surface Exploration.Aerospace Confer-ence,2008IEEE.1-8March,2008:1-14.
[19]Rollins E,Luntz J,Foessel A.Nomad:A demonstration of the transforming chassis[C].Proeceeding of IEEE International Conference on Rohotics and Automantion,1998:611-617.
[20]陈百超.月球车悬架研究及动力学仿真[D].长春:吉林大学,2006.
[21]郭琳,骆保恒.河南科技大学“一种轮腿机器人”荣获国家实用新型专利[DB/OL].http://news.univs.cn/2011/1108/897719.shtml.
[22]苗壮.神奇蜘蛛侠——徐工科技ET110型步履式挖掘机[J].今日工程机械,2011(8):56-57.