The invention discloses an active suspension planetary rover wheel lifting walking control method and system. According to the method and system, an included angle adjustment mechanism is controlled to move so as to carry out reasonable adjustment on the mass center position of a planetary rover system, and therefore, it can be guaranteed that a planetary rover can lift a target wheel, and that the whole rover is stable after the wheel is lifted; the main and auxiliary rocker arms of the planetary rover are locked through a clutch mechanism, so that the main and auxiliary rocker arms cannot rotate relatively; the included angle adjusting mechanism is controlled to move, so that the target wheel is lifted, and the relative movement angle of the included angle adjusting mechanism is determined by the lifting height of the wheel; and other driving mechanisms which do not lift wheels of the planetary rover are controlled to move, and the walking of the planetary rover after the wheels arelifted can be achieved.
一种主动悬架式星球车抬轮行走控制方法及系统,首先,需要控制夹角调整机构运动,对星球车系统质心位置进行合理调整,以保证星球车能抬起目标车轮并且抬轮后整车稳定;其次,通过离合器机构将星球车主副摇臂锁死,使主副摇臂间无法相对转动;再次,控制夹角调整机构运动,实现目标车轮抬升,而夹角调整机构的相对运动角度由车轮抬升高度决定;最后,控制星球车其余未抬起车轮驱动机构运动,则可实现星球车抬轮后的行走。
Active suspension type planetary rover wheel lifting walking control method and system
一种主动悬架式星球车抬轮行走控制方法及系统
2020-06-23
Patent
Elektronische Ressource
Chinesisch
An integrated walking system for the Ambler planetary rover
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