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Abstract: A
new type of pipeline-shaped wheel-legged lunar exploration robot (PWLER),
which comprises of two robot parts, is presented. Each robot part is
made up of a pipeline frame, a cylinder-shaped solar battery board, six
wheeled legs moving independently, and one exploring sphere. Two robot
parts are joined together by one joining shaft and three flexing parts
parallel to each other. Each flexing part is made up of a rope, a common
screw spring and a motor. The most prominent characteristics of PWLER is
its wheeled leg and pipeline structure. PWLER has such particular
performances as the abilities to get across an entrenchment with its
width less than one third the distance between the front wheel and the
rear wheel, to get across a step with its height less than one third the
length of a wheeled leg, to keep the pipeline frame horizontal when
PWLER is moving on a slope, to enlarge the robotic cubage and to extend
the robotic exploration function easily by adding pipelines. Besides,
tipover has no effect on PWLER's moving, The simulation experiment for
PWLER's tipover indicates that PWLER has good tipover stability.
Key words:Wheeled leg
Pipeline Mobile robot Self-recovery Lunar exploration
CLC No: TP242.3
国家自然科学基金重点资助项目. Received 20010611, received in revised form 20020428
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