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蠕动掘进潜入式行星探测装置方案设计研究
节德刚1, 张伟伟2, 姜生元2, 陈化智2, 沈毅2, 全齐全2, 侯绪研2, 邓宗全2
1.探月与航天工程中心, 北京 100037;2.哈尔滨工业大学机器人技术与系统国家重点实验室, 哈尔滨 150080
摘要:
针对在地外星体较大深度处长期地实施地质科学探测这一新的研究难题,运用无人自动潜入式探测原理,提出了蠕动掘进潜入式行星探测装置的设计方案,并重点对探测装置的机构设计开展了研究;成功研制出蠕动掘进潜入式探测装置试验样机及其性能测试平台,为蠕动掘进潜入式行星探测装置方案的可行性验证以及性能测试奠定技术基础。研制的蠕动掘进潜入式行星探测装置对我国未来的行星探测任务具有借鉴意义。
关键词:  行星探测;潜入式探测;蠕动掘进;机构设计
DOI:10.15982/j.issn.2095-7777.2015.01.013
分类号:
基金项目:国家国际科技合作专项项目(2014DFR50250);载人航天领域预先研究项目(050102)
Research on Design of Creepy-Boring Type Subsurface Investigation Device for Planetary Exploration
JIE Degang1, ZHANG Weiwei2, JIANG Shengyuan2, CHEN Huazhi2, SHEN Yi2, QUAN Qiquan2, HOU Xuyan2, DENG Zongquan2
1.Center of Lunar Exploration and Space Program, Beijing 100037, China;2.State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
Abstract:
This paper investigates the relevant information of planetary exploration, and analysis to obtain that the long-term and wealth scientific investigation in the greater depth will be a new research problem in the field of planetary exploration. In order to solve this problem, this paper puts forward a creepy-boring type subsurface investigation device for planetary exploration, and mainly focus on the study of its mechanism design. Finally, this paper successfully developed the creepy-boring type robot and its test platform for feasibility verification of the scheme and performance test for the prototype. The device has significance reference for China future planetary exploration mission.
Key words:  planetary exploration;subsurface investigation;creepy-boring;mechanism design