Crawling Locomotion Enabled by a Novel Actuated Rover Chassis
Crawling Locomotion Enabled by a Novel Actuated Rover Chassis
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新型驱动漫游者底盘实现爬行运动
DOI：
10.1109/icra46639.2022.9811836
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Yang Gao
中科院分区：
文献类型：
--
作者：
Arthur Bouton;Yang Gao
穿越软土是行星探测器任务的一个主要问题。在本文中，我们提出了一种新的底盘机制，能够爬行步态，提高软土上的通过性，同时依赖于尽可能少的致动器。由两个驱动关节铰接，MARCEL是一种四轮漫游车底盘，其名称代表用于增强运动的移动的主动漫游车底盘。MARCEL的爬行利用连续弹性驱动在底盘的两个半部分之间施加的内部扭矩来连续调整四个车轮上的负载分布。这使得两个车轮在底盘铰接运动的帮助下向前移动时，可以将两个车轮上的压力降至最低。因此，车轮可以一对接一对地向前推进，同时避免沙子的推土阻力。这种爬行运动进行了实验测试，并显示出产生更多的牵引比滚动或使用一个纯粹的“推拉”运动。它的能力，以摆脱深沙困漫游者也成功地测试。这将使未来的特派团能够应对不可预见的地形特性或在更具挑战性的地区冒险，同时尽量减少设计的复杂性。
Traversing soft soils represents a major concern of planetary rover missions. In this paper, we present a new chassis mechanism capable of a crawling gait that enhances trafficability on soft soil while relying on as few actuators as possible. Articulated by two actuated joints, MARCEL is a four-wheeled rover chassis which name stands for Mobile Active Rover Chassis for Enhanced Locomotion. MARCEL's crawling leverages a continuous adjustment of the load distribution on the four wheels using an internal torque applied between two halves of the chassis by series elastic actuation. This allows the pressure on two wheels to be minimized while they are moving forward with the assistance of the chassis's articulated motion. As a result, the wheels can be propelled forward one pair after another while avoiding the bulldozing resistance of the sand. This crawling motion is tested experimentally and is shown to generate more drawbar pull than both rolling or using a mere “push-pull” locomotion. Its ability to extricate the rover from deep sand entrapment is also tested successfully. This will allow future missions to deal with unforeseen terrain properties or to venture in more challenging areas while minimizing design complexity.