可重构星球探测机器人的空间对接研究

提出了以改装后的位置敏感传感器来引导机器人完成自动对接的方法,分析了具体工作原理。对可重构星球探测机器人在运动模式下完成对接的两种姿态进行了比较,分别用一般方法和改进后的规划方法计算出了对接工作空间,比较结果说明,机器人在运动模式下三角边着地有利于完成自动对接。对工作模式机器人在工作空间内的运动进行了静力学分析,分析结果表明,机器人在工作空间内可以自由运动。用VC和OpenGL搭建的平台对空间对接进行了仿真试验,试验结果验证了对接工作空间计算的正确性和完成空间自动对接的可能性。

A new method of space docking for Reconfigurable Planetary Robot System (RPRS) was presented in this paper. The method is utilized Position Sensing Detector (PSD) to induct the child-robots of RPRS to achieve reconfiguration. The working theory was analyzed thoroughly. Two planning methods have been used to calculate the docking work space, and two poses for docking have been compared, the result indicates that a side of the triangle wheel touchdown is easier for automatic docking. At the same time, the statics was analyzed for the working model child-robot. The result sustains child-robot's motion in the calculative work space. At last, to explain above calculative results and theory, simulation experiments were done on the platform based on Opengl and VC software, and the simulating results were given as well.

国家 863 高技术研究发展计划资助项目(2002AA422130)