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The author:(作者)qqpublished in(发表于) 2013/11/26 9:02:47 Many universities nationwide to participate in development of Lunar Rover， over more than 10 unsuccessful programmes
Over more than 10 Rover programme "lost"
Many universities and scientific research institutions in the country including the Rover developed, Tsinghua University, Harbin Institute of Beihang University, Fudan University
Legal evening news (reporters Li Wenji) this morning, Chang-third inspections has been named "rabbit", "Moon" has become China's first moon car. In fact, the "Jade Rabbit" behind, there are other "rabbit" for his tireless efforts. Prior to this, over more than 20 universities and research institutions in the country in the development of Lunar vehicles.
The legal evening news reporter learned from the space sector, in 2005, the tower "Engineering" applied sciences chief scientist told the media disclosure of the Moon, the space sector is rolling out "Chinese Lunar Exploration Program," Rover technical parameters and research tasks to be finished, in the national competition, those who are.
Around China first a landing players is landed months surface of target, Moon car became research hot, including Beihang University, and Tsinghua University, and Harbin University of technology, and China HKUST, and Fudan University, and Shanghai Jiao Tong University, College and research units are aiming Moon car project, for has early of programme design and development, total out has more than 10 over Moon car programme, but eventually aerospace five homes of programme WINS, other of are no WINS.
"Father of Chang" Ouyang Ziyuan was introduced, is responsible for the Moon Mission, Rovers must not only move forward, backward, turning, climbing, extractives, sampling and basic features such as flip, also have identification, from climbing, bypassing obstacles such as basic artificial intelligence. These units, the school principal is to conduct independent research, development of the Moon must be combined with lunar exploration objectives and requirements.
School of design has more than one Rover models
Law later the reporter, beginning in 1999, school of mobilization of faculties and established joint research project team of Rovers and deep space exploration technology research center. Hit more than 2 rounds to 12 rounds of Rover models, in the former Soviet Union, the United States further improved on the basis of the Lunar Rover. On November 24, 2003, on the th China International exhibition on space technology, developed by Harbin Institute of space Academy Rover was first exposed. Prototype made from metal, and can't really ball last month.
It is understood that after the school also developed a 6-wheel swing arm – bogie and planetary wheel. This is for different environmental requirements for balance, obstacle crossing, speed and design. If Rover landing area flat on obstacle crossing ability requirements is not high, two wheel Lunar Rover Mission, encountered difficult terrain areas you will need 6 or 12 rounds of the Rover.
Harbin introduced the unique 8-wheel differential and torsion bar springs Rover prototype, 8-wheel cars including 2 can be repeated at the bottom of the Moon and solar panels, as well as the orientation of the camera mast, and directional antennas, Omni-directional antenna, before and after the obstacle-avoidance camera. It is better than other types of Rovers is, mobile system consists of 6 elements of unilateral suspension--2 2 torsion bar springs, Vice-rocker arm and a differential swing composition, this ensures that when the body encounters an obstacle hit and run more smoothly.
6 round rocker Rovers
Rover development involving materials, machinery, control, on-board sensors, and many other techniques, while high temperature difference of the Lunar roving vehicle on the Moon, work under high radiation, terrain and volatile environment.
Therefore, space group designed 6 by 502 wheel-radial Rover, this is in order to better adapt to the Lunar environment, reducing wiring design, optimize, performance, the motor, gear train drives, communications, data collection and processing, all on wheels, integrated design and realization of software and hardware modules.
The reporter learned that the legal evening news, space group 502 starting in 1998, started the virtual prototype development of Lunar Rover.
502 space robot with intelligent control Research Director introduced Dr Chen Jianxin, Rover navigation and control systems is the focus of development 502.
Full 6 foot 9 degrees of freedom instead of walking on the Moon
For the Moon's rugged working environments, Rovers, sealing, and thermal control system suitability, set high requirements such as lubrication, Beihang University finally made the "omni-directional walking Rover 6 foot 9 degrees of freedom" concept.
Northern Rover is a true sense of freedom road. Rovers had at least 18 degrees of freedom is reduced to 9, and enable a full range of walking at the foot and the floor non-slip case with any degree of continuous steering, solves the problem of walking Rover steering,.
In addition, BUAA rovers have a certain capacity, strong climbing and climbing ability. It uses electric drive, powered by solar energy and fuel cells. Equipped with robots and stereoscopic cameras, new photo features, and photos can be transmitted back to the ground control center. Automatic recognition of road surface, select the path, complete samples lunar exploration work.
Rover 6 wheel chassis
New photography feature
According to reports, in 1998, led by the Tsinghua University "decomposition of overall design and key technology of robot lunar exploration" project study. In order to cope with the rough ground, developed by Tsinghua University Rover 6 wheel chassis. Two wheels on each side by two rocker arm connected to the other wheel, rear has a rocker to relieve the body of ups and downs. Each wheel Lunar Rover is installed on a motor driven by independent sources of power, power batteries and solar power. 6 wheels alone, can be easily crossed the 18 cm high obstacles on the Moon, really on the Moon "easily as walking on firm Earth."
In addition, it is also equipped with a 4 in front of a searchlight, top body equipped with a stereoscopic camera, new photo features, photos can be transmitted back to the ground control center.
Sideways more than 30 degrees can keep marching
The lunar surface are rugged, Rovers remained how could lay state that? Thus, Shanghai Jiaotong University have developed a one-arm eight wheels mobile Lunar robot, profiles are similar to spiders, body low, flat, there is a five after four wheels can not only provide very good support, and strong climbing capabilities, which can exceed 30 degrees sideways angle. Moon vehicle body mounted on the rear wheel suspension, change can be based on ground level, maintain a balance and to absorb shock.
In 1997, Shanghai Jiao Tong University Robotics Institute, he began his research on key technologies for Lunar Rover, and has produced 6 feature of Rovers.
In addition, 5 wheels are steering-wheel Lunar Rover, rear four driving wheels, front steering wheel with the body through swing mechanism and actuator coordinate downhill on rhythm.
Application of bionics principle
8-legged spider-like
As with the Shanghai Jiaotong University, Fudan University, developed the Rover, also on the "spider", they will be on the bionics principle used in the Rover. According to reports, their rovers have 8 legs, each leg foot has adsorption properties, sure to walk on steep terrain can. In addition, the 8 legs have autonomy of action, in the case of failure of one leg, can also support other leg to complete the task. In order not to fail, its separate steering mechanism, both before and after the walk arm driving mechanism, walking arm and the head mounted laser rangefinder, highly sensitive cameras and other instruments by the data cable are connected, also connected to the central processing unit, so that you can walk both buffet and ground control through remote control. When faced with a large number of meteorites when no getting away from the attack, its 8 legs curled up, protecting the middle class.
In order to solve once the failure of the local part, Moon car affected by the problem as a whole. Ustc Lunar Rover using a robot team to execute the mission mode. This reporter learned that, China Science and Technology University team of Rovers, each robot is only doing one specific task. Then, even if a robot fails, others can still continue to work properly.
Different from at home and abroad the Rover concept, PLA Institute has developed no "stumble" Rover.
The reporter learned that the legal evening news, which designed a lunar robot and its biggest advantage is that you can place free to turn, and under complicated geographic environment on the lunar surface, they cannot easily be "undone".
Plus additional scientific research the development of the variable-geometry-wheel Rover. It is understood that its compass line round the core technology, which is a compass wheel using independent wheel drive, the chassis also through the coordination of linkages between the front and rear wheels on each side, in addition to rotating around the axis will be based on the external terrain and height adjusts itself wheel RADIUS, which smoothly uphill or downhill. Car body symmetry also install solar panels, installed sensors, communications equipment, radar, remote control, etc.
This version of the article/reporter Li Wenji
Cartographic/Zhou Jianwen
10余月球车方案“落选”
全国多所高校和科研单位投入到月球车开发的行列 包括北航、清华、哈工大、复旦等
法制晚报讯(记者 李文姬) 今天上午，嫦娥三号巡视器定名为“玉兔号”，“玉兔号”成为了我国首辆月球车。事实上，在“玉兔号”的背后，还有其它“玉兔”们的不懈努力。此前，全国有20多所高校和科研单位投入到开发月球车的行列中。
《法制晚报》记者从航天部门了解到，2005年，“嫦娥工程”月球应用科学首席科学家对媒体披露，航天部门已经出台了“嫦娥工程”用月球车的技术参数和需要完成的科研任务，将在全国竞争、择优录用。
围绕中国第一个软着陆器即将登陆月面的目标，月球车成为研究热点，包括北京航空航天大学、清华大学、哈尔滨工业大学、中国科大、复旦大学、上海交大等高校和科研单位均瞄准月球车项目，进行了先期的方案设计和研制，共出了10余个月球车方案，但最终航天五院的方案胜出，其他的都没有入选。
“嫦娥之父”欧阳自远曾介绍，负责此次探月任务的月球车不但要具有前进、后退、转弯、爬坡、取物、采样和翻转等基本功能，还要具备识别、爬越、绕过障碍物等初级人工智能。而这些单位、学校主要是进行自主研制，月球车的研制必须与月球的探测目标和要求结合起来。
哈工大研制有多个月球车模型
据法晚记者了解，从1999年开始，哈工大就调动各院系共同成立研究月球车的课题组和深空探测技术研究中心。哈工大有2轮到12轮的多个月球车模型，是在前苏联、美国月球车的基础上进一步改进的。2003年11月24日，在第五届中国国际空间技术展览会上，由哈工大航天学院研制的月球车首度曝光。样车用普通金属制成，并不能真正上月球。
据了解，此前，哈工大还研制了6轮摇臂——转向架式以及行星轮式。这是针对不同环境对平衡性、越障性、速度等的要求而设计的。如遇到月球车着陆区域平坦，对越障能力要求不高，两轮月球车即可完成任务，而遇到地形复杂的地区则需要6轮或12轮的月球车。
哈工大推出了国内唯一的8轮差动扭杆弹簧式月球车样机，8轮月球车底部包括2片可以重复展开和定位的太阳能帆板以及相机桅杆，还有定向天线、全向天线、前后避障相机等。它优于其他类型月球车的地方在于，移动系统的单侧悬架由6个杆件——2根副摇臂、2根扭杆弹簧压臂和一根差动摆杆组成，这保证了车体遇到障碍物冲击时，运行更加平稳。
6轮摇臂式月球车
月球车的研制涉及到材料、机械、控制、车载传感器等多方面的技术，同时月球车要在月球的高温差、高辐射、地形多变的环境下工作。
因此，航天集团502所设计出了6轮摇臂式月球车，这是为更好地适应月球环境，在设计中减少布线、优化控制性能，将轮系的电机、驱动、通信、数据采集与处理等全部集中在了轮部，形成一体化轮系，实现软硬件的模块化。
《法制晚报》记者了解到，航天集团502所从1998年就开始了月球车虚拟样机的研制。
据502所空间机器人与智能控制研究室主任陈建新博士介绍，月球车的导航与控制系统是502所研制的重点。
9自由度6足全方位代步月球车
针对月球恶劣的工作环境，对月球车系统适应性、密封、热控、润滑等方面提出高要求，北京航空航天大学最终提出了“9自由度6足全方位代步月球车”的概念。
北航月球车是一个真正意义上的自由行车。它将月球车原来至少有18个自由度减少为9个，并可实现全方位的行走，在脚与地面无滑动的情况下实现任意度连续转向，解决了月球车转向、漫步的难题。
此外，北航月球车具备一定的运载能力、较强的越障和爬坡能力。它采用电动方式驱动，用太阳能和燃料电池供电。其上装备机械手和三维立体摄像机，具有全新摄影功能，并能将照片传回地面控制中心。能够自动识别路面、选择路径，完成采集样本等月球探测工作。
月球车采用6轮底盘
有全新摄影功能
据介绍，1998年，由清华大学牵头的“月球探测机器人总体方案设计及关键技术分解”的立项研究通过。为了应付崎岖不平的地面，清华大学研制的月球车采用6个轮子的底盘。每侧的两个轮子通过两个摇臂与另一个轮子相连，车尾还有一个摇臂来减轻车身起伏。月球车每个轮子都安装有一台电机作为独立驱动的动力源，由自备电池和太阳能电池供电。6个轮子可单独行动，在月球上可轻松越过18厘米高的障碍，真正做到在月球上“如履平地”。
此外，它的前部还装有4个探照灯，车身顶部装有一台三维立体摄像机，具有全新摄影功能，能将照片传回地面控制中心。
侧身超过30度仍能保持行进
月球表面凹凸不平，月球车如何能在侧身的状态下依然保持行进呢？由此，上海交大先期研制出一辆转臂式八轮移动月球机器人，外形类似于蜘蛛，车身低矮扁平，有一前四后共五个轮子，不仅可以提供很好的支撑力，还有强大的越障能力，能在侧身超过30度的角度保持行进。月球车车身就安装在后对车轮的悬架上，能依据地面自行调整高低，并吸收震动保持平衡。
1997年，上海交大机器人研究所就开始了月球车关键技术的研究工作，先后制作了6辆各有特色的月球车。
此外，月球车的5个车轮都是转向轮，后四个均为驱动轮，前转向轮与车身之间通过摆杆机构和作动筒协调上下坡节奏。
运用仿生学原理
8条腿蜘蛛状
同上海交通大学一样，复旦大学研制的月球车，也呈“蜘蛛形”，他们将仿生学原理运用到了月球车上。据介绍，他们的月球车有8条腿，每条腿足部都有吸附特性，保证能在陡峭地形还能行走。此外，8条腿都具有行动自主性，在一条腿失灵的情况下，其他腿还可以支撑完成任务。为了不出现故障，它的行走臂前后均有独立的转向机构、驱动机构，行走臂与头部安装的激光测距仪、高敏感相机等仪器由数据线相连接，同时还与中央处理器相连，这样就可以既能自助行走，又可以通过遥控通信实现地面控制。当遇到大量陨石袭击无法避开时，它的8条腿会蜷缩起来，保护主体中央舱。
为了解决一旦局部部件出现故障，月球车整体工作受到影响的问题。中科大的月球车采用了机器人团队执行探测任务的模式。记者了解到，中国科技大 学团队研制的月球车，每个机器人只完成一项特定任务。这样一来，即使某个机器人出现故障，其他机器人仍然可以继续正常工作。
不同于目前国内外的月球车概念，解放军某技术院研制出了不“栽跟头”的月球车。
《法制晚报》记者了解到，该院设计的月球机器人，其最大优势就是可以原地随意转弯，并在月球表面复杂的地理环境下不会轻易“栽跟头”。
此外还有其他科研单位研制的变几何轮月球车。据了解，其采用圆规脚步行轮核心技术，即四个圆规脚步行轮采用独立的轮边驱动装置，底盘每侧前后轮之间还通过连杆机构协调，除了能够围绕轴心转动还会根据外部地形和高度变化自行调节车轮的半径大小，从而顺利爬坡或者下坡。车身上方还对称安装有太阳能电池板，中间安装有探测器、通讯设备、雷达、遥控器等。
本版文/记者 李文姬
制图/周建文
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