摘要
目前的航天飞行中计划了大量的出舱活动,如国际空间站和哈勃望远镜,这些出舱活动大部分都是维修工作。舱外活动工作量很大,同时还伴随着相当大的危险。自动小车,也就是轮式机器人,最适合在那些人类无法工作的环境中工作,该技术可以广泛应用于无人驾驶机动车、无人生产线、服务机器人以及航空航天等科技领域。针对机器人深空探测这一领域,以“无碳”为出发点,采用重力势能驱动,通过机械结构的模块化和机械运动数学模型分析,设计了一种具有方向控制功能的自动避障小车。最终,对其进行了运动学仿真和实物调试,该环保无碳小车可自动绕过设置的障碍物,沿S形稳定前行。整个设计结构简单,可靠性高,实现了预期的自动循迹小车功能。
Automated cars,or wheeled robots,are best suited to work in environments where humans cannot work.This technology can be widely used in the fields of unmanned motor vehicles,unmanned production lins,service robots,aerospace and other scientific and technological fields.In this paper,an automatic obstacle avoidance car with directional control function is designed,which is driven by gravitational potential energy and is analyzed by modularization and physical debugging are carried out.The environmental friendly carbon-free car can automaticically bypass the obstacles and move steadily along the S-shape.The whole design has simple structure and high reliability,and achieves the expected function of automatic tracking car.
作者
左睿奇
王思杰
闫哲
ZUO Ruiqi;WANG Sijie;YAN Zhe(School of mechanical engineering,beijing institute of technology,beijing 10000,China)
出处
《空间电子技术》
2019年第6期83-87,共5页
Space Electronic Technology
关键词
深空探测
无碳小车
结构设计
deep space exploration
carbonless car
structural design
