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首页> 外文会议>Fourth International Conference and Exposition/Demonstration on Robotics for Challenging Situations and Environments, 4th, Feb 27-Mar 2, 2000, Albuquerque, New Mexico >An Innovative Space Rover with Extended Climbing Abilities
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An Innovative Space Rover with Extended Climbing Abilities

机译：具有扩展爬升能力的创新太空漫游车

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摘要

Autonomous mobile robots have become a key technology for unmanned planetary missions. To cope with the rough terrain encountered on most of the planets of interest, new locomotion concepts for rovers and micro-rovers have to be developed and investigated. The most advanced locomotion concepts are based on wheels or caterpillars (e.g. Sojourner (NASA) or Nanokhod (ESA)). These rovers have clear advantages regarding power efficiency and complexity if compared with walking robots. However, they still have quite limited climbing abilities. Typically they can only overcome obstacle of their wheel size. In our paper we present an innovative rover concept with 6 motorized wheels. Using a rhombus configuration, the rover has a steering wheel in the front and the rear, and two wheels arranged on a bogie on each side. The front wheel has a spring suspension to guarantee optimal ground contact of all wheels at any time. The steering of the rover is realized by synchronizing the steering of the front and rear wheel and the speed difference of the bogie wheels. This allows for high precision maneuvers and even turning on the spot with minimum slip. The use of parallel articulations for the front wheel and the bogies enables to set a virtual center of rotation at the level of the wheel axis. This insures maximum stability and climbing abilities even for very low friction coefficients between the wheel and the ground. A well functioning prototype has been designed and manufactured in our lab. It shows excellent performance surpassing our expectations. This rover is able to passively overcome unstructured obstacles of up to two times its wheel diameter and can climb stairs with steps of over 20 cm.
机译：自主移动机器人已成为无人星球任务的关键技术。为了应对大多数感兴趣的行星遇到的崎terrain地形，必须开发和研究用于流动车和微型粗纱机的新运动概念。最先进的运动概念是基于轮子或毛毛虫的（例如Sojourner（NASA）或Nanokhod（ESA））。与行走机器人相比，这些漫游者在功率效率和复杂性方面具有明显的优势。但是，他们的攀爬能力仍然很有限。通常，他们只能克服车轮尺寸的障碍。在我们的论文中，我们提出了具有6个电动车轮的创新型流动站概念。流动车采用菱形配置，前后方向盘，转向架的两侧各有两个轮子。前轮有一个弹簧悬架，以确保所有车轮在任何时候都能实现最佳的地面接触。通过使前后轮的转向和转向架轮的速度差同步来实现流动站的转向。这样可以进行高精度的机动，甚至可以以最小的滑差在现场转弯。前轮和转向架采用平行铰接，可以在轮轴的水平位置设置虚拟旋转中心。即使在车轮与地面之间的摩擦系数非常低的情况下，这也可以确保最大的稳定性和爬坡能力。在我们的实验室中已经设计并制造了功能良好的原型。它显示出超越我们预期的出色性能。该流动站能够被动地克服不超过车轮直径两倍的非结构性障碍，并且可以以20厘米以上的台阶爬上楼梯。

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