论文标题
车轮相互作用的行星漫游器的仪表轮毂系统：系统构思和初步设计
An Instrumented Wheel-On-Limb System of Planetary Rovers for Wheel-Terrain Interactions: System Conception and Preliminary Design
论文作者
论文摘要
理解轮子的相互作用对于提高流浪者的可操作性和穿拓性至关重要。流动站携带的一个发达的传感设备将极大地促进在沙质地形上进行复杂的风险降低操作。在本文中，提出了用于轮子交互作用的行星漫游器的仪表轮（WOL）系统。假设车轮被动悬架的功能，WOL系统允许自身遵循地形轮廓，并在漫游车运动期间保持车轮保持在地面上，包括攀爬和下降，并在开车命令之前部署和将车轮放在地面上。提出了系统概念，功能要求和设计前的工作以及系统集成。
Understanding the wheel-terrain interaction is of great importance to improve the maneuverability and traversability of the rovers. A well-developed sensing device carried by the rover would greatly facilitate the complex risk-reducing operations on sandy terrains. In this paper, an instrumented wheel-on-limb (WOL) system of planetary rovers for wheel-terrain interaction characterization is presented. Assuming the function of a passive suspension of the wheel, the WOL system allows itself to follow the terrain contour, and keep the wheel remain lowered onto the ground during rover motion including climbing and descending, as well as deploy and place the wheel on the ground before a drive commanding. The system concept, functional requirements, and pre-design work, as well as the system integration are presented.
