A Passive Planetary Obstacle Vehicle Based on Flexible Mechanism

Abstract

The invention discloses a passive planetary obstacle-climbing vehicle based on a flexible mechanism, which includes a vehicle body (3), wheels and a driving mechanism for driving the wheels on a conventional vehicle, as well as: a flexible differential mechanism (5), a support shaft (4), left flexible hinge suspension (1) and right flexible hinge suspension (2). The left flexible hinge suspension (1) is provided with a left deformation part (1N), and the right flexible hinge suspension (2) is provided with a right deformation part (2N). The cooperation of the left deformation part (1N), the right deformation part (2N) and the flexible differential mechanism (5) respectively realizes that one or both sides of the passive planetary obstacle-crossing vehicle can generate passive deformation according to the change of terrain, so as to be able to cross obstacles.

Description

technical field [0001] The invention relates to an obstacle-climbing vehicle, more particularly, a passive planetary obstacle-climbing vehicle based on a flexible mechanism suitable for planetary detection. Background technique [0002] The planetary exploration vehicle is a robot that can replace human beings in the exploration of alien planets. Its biggest feature is that it has a strong ability to pass through the harsh environment of alien planets. Planetary exploration is one of the key development directions in the space field in the future. It has very important strategic significance for exploring the universe and the origin of life. Therefore, many countries are actively carrying out various exploration actions targeting outer space and alien planets. The obstacle-crossing vehicle that can replace human beings for extraterrestrial exploration has become an important guarantee for extraterrestrial exploration activities. [0003] There are mainly two kinds of obstac...

AI Technical Summary

Problems solved by technology

In the passive probe vehicle, the passive form requires the components of the robot to move with each other during the obstacle-crossing process, so the passive form itself has many kinematic pairs and parts, and these kinematic pairs will have friction loss on the one hand, which will affect the robot’s performance. Motion deformation accuracy, on the other hand, will greatly increase the amount of robot assembly, and studies have shown that assembly costs account for 40% of the entire labor cost, accounting for 50% of the entire manufacturing cost, so it is necessary to use it as much as possible within the allowable range. reduce assembly

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