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蠕动步态是解决火星车在火星松软表面行走或爬坡困难时提高牵引力的有效方法,合理设置蠕动步态对充分发挥火星车在松软地表上的移动性能至关重要。文章将Bekker等人的轮地力学理论用于整车蠕动步态的受力分析,通过建立火星车的运动学模型,分析关节的运动关系,得到蠕动步态的协调运动方案,并通过原理样机试验对该方案的作用效果进行验证,为主动悬架蠕动步态的轮速配合给出了合理的建议。
Peristaltic gait is an effective way to improve the traction when the rover moves on the soft surface of Mars or it is difficult to climb. Proper setting of the peristaltic gait is very important to make full use of the rover’s moving performance on soft ground. In this paper, Bekker et al.’s theory of wheel mechanics is applied to the force analysis of complete vehicle creep gait. By establishing the kinematics model of rover, the kinematic relation of joint is analyzed, and the coordinated motion plan of creeping gait is obtained. The experimental results verify the effectiveness of the program and provide reasonable suggestions for the wheel speed matching of the active suspension creep gait.