Kinematic Discussion and Development of a Multi-Legged Planetary Exploration Rover with Isotropic Leg Arrangement
Kinematic Discussion and Development of a Multi-Legged Planetary Exploration Rover with Isotropic Leg Arrangement
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各向同性腿布置的多腿行星探测车的运动学讨论与研制
DOI：
10.1163/016918611x563300
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发表时间：
2011
影响因子：
2
通讯作者：
et al
中科院分区：
文献类型：
--
作者：
Shinji Nishikori;et al
研究了一种球面各向同性腿部布置的多腿行星漫游车。腿式漫游车是在崎岖地形上进行探索的可靠漫游车系统，因为它即使在倾覆后也可以继续行走。此外，腿式月球车还可以利用其各向同性的形状进行旋转运动。本文讨论了两种形状的漫游车的行走性能：一种是基于正八面体的六腿布置，另一种是基于正六面体的八腿布置。阐述了该月球车的设计过程，并介绍了一种用于演示基本运动的试验台系统。
This study deals with a multi-legged planetary rover with a spherically isotropic leg arrangement. The legged rover is a reliable rover system for exploration on rough terrains, because it can continue walking even after overturning. Moreover, the legged rover can also show a rotational motion by utilizing its isotropic shape. This paper discusses the walking performance of two types of rover shapes: one has a six-leg arrangement based on a regular octahedron and the other has an eight-leg arrangement based on a regular hexahedron. The design procedure of the proposed rover is explained, and a test-bed system, which is developed to demonstrate the fundamental motions, is also presented.