摘要
在对月球机器人操作动力学进行建模和分析的基础上,论证了月球机器人在复杂的月面环境进行各种样本采集工作时,车体会因为月球的微重力环境及松软的月壤而出现滑移现象。提出了以速度作为补偿判断标准的方法。通过仿真分析,论证了月球机器人工作补偿的必要性;同时,基于月面多变而未知的复杂环境,验证了不同参数对仿真结果的影响,进一步确认了对月球机器人进行工作补偿的必要性。
Based on the modeling and analysis of manipulation dynamics of lunar robot,the article demonstrates the supposition that the platform of lunar robot will slip due to the microgravity and loose soils when the manipulator of lunar robot manipulates on the complicated lunar surface,such as drilling,sampling.The paper put forward a method that takes the velocity as the judgment standard for compensation.Then based on simulation results,we validate that the position compensation for lunar robot is necessary.As a result of the complex and capricious lunar environment,the effect of different parameters of lunar environment on simulation result has been validated.Accordingly,the necessity of compensation is further confirmed.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2010年第4期957-961,共5页
Journal of Astronautics
基金
国家自然科学基金资助项目(60805034)
教育部高等学校科技创新工程重大项目培育资金项目(708086)
关键词
月球机器人
滑移
操作动力学
补偿标准
Lunar robot
Slipping
Manipulation dynamics
Standard of compensation
