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为了提高机器人的越障能力,设计了一种新型探测车Rabbit,该车装有4个轮爪式车轮.介绍了轮爪式车轮的原理,以及Rabbit样机移动系统和控制系统的设计,并通过实验对其进行了运动性能分析.结果表明:Rabbit可以在各种地形中自如运动,如台阶路面、斜坡路面、多障碍路面和月球模拟土壤中等.Rabbit还可以越过高度为车轮半径1.4倍的台阶,并能越过斜度为40°的斜坡,性能优于普通圆形车轮.该轮爪式探测车适用于行星探测或野外探测.
In order to improve the robotic obstacle abilities, Rabbit, a new rover, is designed with four wheel-mounted wheels.The principle of wheel-mounted wheels and the design of Rabbit prototype mobile system and control system are introduced and discussed The experimental results show that Rabbit can move freely in various terrains, such as step, slope, multi-obstacle and lunar simulating soil, etc. Rabbit can also climb over the height of 1.4 times the wheel radius , And can cross the slope of the slope of 40 °, the performance is better than the ordinary round of the wheels. The wheel claw rover for planetary exploration or field detection.