Design and verification of the active suspension mobility system of the Zhurong Mars rover

被引：0

作者：

Pan D. ^{[1
]}

Jia Y. ^{[1
]}

Yuan B. ^{[1
]}

Liu Y. ^{[1
]}

Dang Z. ^{[1
]}

Lin Y. ^{[1
]}

Wang R. ^{[1
]}

Chen M. ^{[1
]}

Wei Q. ^{[1
]}

Zhao Z. ^{[1
]}

Wang C. ^{[1
]}

Zhang X. ^{[1
]}

机构：

[1] Beijing Institute of Spacecraft System Engineering, Beijing

来源：

Zhongguo Kexue Jishu Kexue/Scientia Sinica Technologica | 2022年 / 52卷 / 02期

关键词：

Active suspension; Mars rover; Mobility system;

D O I：

10.1360/SST-2021-0483

中图分类号：

学科分类号：

摘要：

This work describes the design and development of the active suspension mobility system of the Zhurong Mars rover. The suspension system achieves the functions of peristaltic movement, body lifting, wheel lifting, and omnidirectional movement; and solves the problems of a passive suspension mobility system, such as poor collapse ability in soft terrain, low climbing angle, and fault-free wheel isolation ability. The verification results show that, through peristaltic motion, the rover can quickly break free from up to300 mm settlement of all 6 wheels in 16 min. Moreover, through peristaltic movement and the multi rut climbing strategy, the climbing ability of the rover on soft terrain is improved from a slope of 20° to one of 25°. Compared with dragging, the power consumption is reduced by more than 50%. It is the first active suspension mobility system to land on an alien planet. © 2022, Science China Press. All right reserved.

引用

页码：278 / 291

页数：13

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